{"id":"https://openalex.org/W2157717702","doi":"https://doi.org/10.23919/ecc.2001.7076063","title":"Global stability without motion planning may be worse than local tracking","display_name":"Global stability without motion planning may be worse than local tracking","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W2157717702","doi":"https://doi.org/10.23919/ecc.2001.7076063","mag":"2157717702"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2001.7076063","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/28373","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011976786","display_name":"B\u00e1lint Kiss","orcid":"https://orcid.org/0000-0002-5532-3435"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"B. Kiss","raw_affiliation_strings":["Centre Automatique et Systèmes, École Nationale Supérieure des Mines de Paris, 35, rue Saint-Honoré, F-77305 Fontainebleau, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre Automatique et Systèmes, École Nationale Supérieure des Mines de Paris, 35, rue Saint-Honoré, F-77305 Fontainebleau, France","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111859858","display_name":"Jean L\u00e9vine","orcid":null},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Levine","raw_affiliation_strings":["Centre Automatique et Systèmes, École Nationale Supérieure des Mines de Paris, 35, rue Saint-Honoré, F-77305 Fontainebleau, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre Automatique et Systèmes, École Nationale Supérieure des Mines de Paris, 35, rue Saint-Honoré, F-77305 Fontainebleau, France","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017722714","display_name":"Ph. M\u00fcllhaupt","orcid":"https://orcid.org/0000-0001-8835-6519"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ph. Mullhaupt","raw_affiliation_strings":["Centre Automatique et Systèmes, École Nationale Supérieure des Mines de Paris, 35, rue Saint-Honoré, F-77305 Fontainebleau, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre Automatique et Systèmes, École Nationale Supérieure des Mines de Paris, 35, rue Saint-Honoré, F-77305 Fontainebleau, France","institution_ids":["https://openalex.org/I70768539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I70768539"],"apc_list":null,"apc_paid":null,"fwci":0.8825,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72173723,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1106","last_page":"1110"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8199198246002197},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.7848243713378906},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6163478493690491},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6005094051361084},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5547291040420532},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.5498008728027344},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5303581357002258},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4699404835700989},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45165833830833435},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.43910837173461914},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4303390383720398},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41947075724601746},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4139712452888489},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3479377329349518},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19004535675048828},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18921586871147156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1764964759349823},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0779242217540741},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06644925475120544}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8199198246002197},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.7848243713378906},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6163478493690491},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6005094051361084},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5547291040420532},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.5498008728027344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5303581357002258},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4699404835700989},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45165833830833435},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.43910837173461914},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4303390383720398},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41947075724601746},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4139712452888489},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3479377329349518},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19004535675048828},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18921586871147156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1764964759349823},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0779242217540741},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06644925475120544},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/ecc.2001.7076063","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2001.7076063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2001 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.502.9270","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.502.9270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/28373/files/fulltext.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:28373","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/28373","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:28373","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/28373","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W174973717","https://openalex.org/W1510094385","https://openalex.org/W1577855476","https://openalex.org/W1999133484","https://openalex.org/W2060940830","https://openalex.org/W2065297540","https://openalex.org/W2096359392","https://openalex.org/W2102545929","https://openalex.org/W2112396687","https://openalex.org/W2143354169","https://openalex.org/W2145453121","https://openalex.org/W2146116058"],"related_works":["https://openalex.org/W2789295429","https://openalex.org/W2743501974","https://openalex.org/W2540573954","https://openalex.org/W2782313579","https://openalex.org/W2066314436","https://openalex.org/W2588834286","https://openalex.org/W2510927817","https://openalex.org/W2325727422","https://openalex.org/W2003275872","https://openalex.org/W2356352686"],"abstract_inverted_index":{"In":[0],"this":[1,59],"paper":[2],"we":[3],"study":[4],"a":[5,30,43,52,65],"three-dimensional":[6],"(3D)":[7],"US":[8],"Navy":[9],"crane.":[10],"We":[11],"present":[12],"an":[13],"extension":[14],"to":[15,79,91],"the":[16,23,26,47,55,71,84,97,100,103],"3D":[17],"case":[18],"of":[19,22,99],"previous":[20],"results":[21],"authors":[24],"concerning":[25],"crane's":[27],"stabilization":[28],"by":[29,64],"simple":[31],"PD":[32,44],"controller":[33,45,57],"using":[34,46],"only":[35,89],"motor":[36],"position":[37,50],"measurements.":[38],"Two":[39],"variants":[40],"are":[41],"studied:":[42],"equilibrium":[48],"end-point":[49],"as":[51],"reference":[53,61],"and":[54],"same":[56,72],"where":[58],"constant":[60],"is":[62,77,88],"replaced":[63],"flatness":[66],"based":[67],"trajectory":[68],"finishing":[69],"at":[70],"point.":[73],"The":[74],"first":[75],"one":[76],"proved":[78,90],"be":[80,92],"globally":[81],"stabilizing,":[82],"whereas":[83],"second":[85],"one's":[86],"stability":[87],"local.":[93],"However":[94],"simulation":[95],"show":[96],"superiority":[98],"latter":[101],"over":[102],"former.":[104]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}