{"id":"https://openalex.org/W2026839528","doi":"https://doi.org/10.1137/s0363012903421868","title":"Practical and Asymptotic Stabilization of Chained Systems by the Transverse Function Control Approach","display_name":"Practical and Asymptotic Stabilization of Chained Systems by the Transverse Function Control Approach","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2026839528","doi":"https://doi.org/10.1137/s0363012903421868","mag":"2026839528"},"language":"en","primary_location":{"id":"doi:10.1137/s0363012903421868","is_oa":false,"landing_page_url":"https://doi.org/10.1137/s0363012903421868","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00071874","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036552594","display_name":"Pascal Morin","orcid":"https://orcid.org/0000-0003-3360-8269"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Pascal Morin","raw_affiliation_strings":["Instrumentation, control and architecture of advanced robots"],"affiliations":[{"raw_affiliation_string":"Instrumentation, control and architecture of advanced robots","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013665591","display_name":"Claude Samson","orcid":"https://orcid.org/0000-0002-3769-6174"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Claude Samson","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036552594"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.7671,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.97166562,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"43","issue":"1","first_page":"32","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9677000045776367,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.7823935747146606},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.6088647842407227},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6048222780227661},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.563091516494751},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5330167412757874},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.523034930229187},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.48727524280548096},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4790188670158386},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.46495211124420166},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4333952069282532},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3913528025150299},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2990630269050598},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.10574644804000854}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.7823935747146606},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.6088647842407227},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6048222780227661},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.563091516494751},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5330167412757874},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.523034930229187},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.48727524280548096},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4790188670158386},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.46495211124420166},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4333952069282532},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3913528025150299},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2990630269050598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.10574644804000854},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1137/s0363012903421868","is_oa":false,"landing_page_url":"https://doi.org/10.1137/s0363012903421868","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","raw_type":"journal-article"},{"id":"pmh:oai:HAL:inria-00071874v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00071874","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"RR-4712, INRIA. 2003","raw_type":"Reports"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00071874v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00071874","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"RR-4712, INRIA. 2003","raw_type":"Reports"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W43835639","https://openalex.org/W91466345","https://openalex.org/W179828086","https://openalex.org/W1492238809","https://openalex.org/W1972969740","https://openalex.org/W1983894121","https://openalex.org/W1991378199","https://openalex.org/W2032128836","https://openalex.org/W2033699235","https://openalex.org/W2050439892","https://openalex.org/W2087640086","https://openalex.org/W2089592749","https://openalex.org/W2099761232","https://openalex.org/W2100165947","https://openalex.org/W2104881594","https://openalex.org/W2104929776","https://openalex.org/W2115404603","https://openalex.org/W2120181385","https://openalex.org/W2122513851","https://openalex.org/W2127988032","https://openalex.org/W2133661758","https://openalex.org/W2133927781","https://openalex.org/W2143810732","https://openalex.org/W2146805542","https://openalex.org/W2158564182","https://openalex.org/W2171177102","https://openalex.org/W2175643442","https://openalex.org/W2180591078","https://openalex.org/W3006011544"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"A":[0,78],"control":[1,88],"approach":[2,43],"for":[3,23,32,92],"the":[4,26,42,55,59,67,70,93,96],"practical":[5,47],"and":[6,61,86],"asymptotic":[7,62],"stabilization":[8,30],"of":[9,28,41,49,95],"nonlinear":[10],"driftless":[11,34],"systems":[12,35],"subjected":[13],"to":[14,45,66,76],"additive":[15],"perturbations":[16,20,71],"is":[17,44,81,90],"proposed.":[18],"Such":[19],"arise":[21],"naturally,":[22],"instance,":[24],"in":[25,54,83],"modeling":[27],"trajectory":[29],"problems":[31],"controllable":[33],"on":[36],"Lie":[37],"groups.":[38],"The":[39],"objective":[40],"provide":[46],"stability":[48,63],"an":[50],"arbitrary":[51],"given":[52],"point":[53],"state":[56],"space,":[57],"whatever":[58],"perturbations,":[60],"(resp.,":[64,74],"convergence":[65],"point)":[68],"when":[69],"are":[72],"absent":[73],"tend":[75],"zero).":[77],"general":[79],"framework":[80],"presented":[82],"this":[84],"paper,":[85],"a":[87],"solution":[89],"proposed":[91],"class":[94],"chained":[97],"systems.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}