{"id":"https://openalex.org/W3046886066","doi":"https://doi.org/10.23919/ecc51009.2020.9143703","title":"Investigation of a perturbation method to solve essentially non-regular time-optimal control problems with state constraints","display_name":"Investigation of a perturbation method to solve essentially non-regular time-optimal control problems with state constraints","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3046886066","doi":"https://doi.org/10.23919/ecc51009.2020.9143703","mag":"3046886066"},"language":"en","primary_location":{"id":"doi:10.23919/ecc51009.2020.9143703","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040657266","display_name":"Roman Chertovskih","orcid":"https://orcid.org/0000-0002-5179-4344"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Roman Chertovskih","raw_affiliation_strings":["Research Center for Systems and Technologies (SYSTEC), University of Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Systems and Technologies (SYSTEC), University of Porto, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030800154","display_name":"A. N. Daryina","orcid":"https://orcid.org/0000-0002-4187-3954"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Anna Daryina","raw_affiliation_strings":["Federal Research Center \"Computer Science and Control\" of the Russian Academy of Science, Moscow"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal Research Center \"Computer Science and Control\" of the Russian Academy of Science, Moscow","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044133211","display_name":"Askhat Diveev","orcid":"https://orcid.org/0000-0003-2057-9016"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Askhat Diveev","raw_affiliation_strings":["Federal Research Center \"Computer Science and Control\" of the Russian Academy of Science, Moscow"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal Research Center \"Computer Science and Control\" of the Russian Academy of Science, Moscow","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064908841","display_name":"Dmitry Karamzin","orcid":"https://orcid.org/0000-0001-6579-4276"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Dmitry Karamzin","raw_affiliation_strings":["Research Center for Systems and Technologies (SYSTEC), University of Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Systems and Technologies (SYSTEC), University of Porto, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005445685","display_name":"\u0424\u0435\u0440\u043d\u0430\u043d\u0434\u043e \u041b\u043e\u0431\u043e \u041f\u0435\u0440\u0435\u0439\u0440\u0430","orcid":"https://orcid.org/0000-0002-9602-2452"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Fernando L. Pereira","raw_affiliation_strings":["Research Center for Systems and Technologies (SYSTEC), University of Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Systems and Technologies (SYSTEC), University of Porto, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029538147","display_name":"Elena Sofronova","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Elena Sofronova","raw_affiliation_strings":["Federal Research Center \"Computer Science and Control\" of the Russian Academy of Science, Moscow"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal Research Center \"Computer Science and Control\" of the Russian Academy of Science, Moscow","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"849","last_page":"854"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9872000217437744,"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/T10545","display_name":"Optimization and Variational Analysis","score":0.9782000184059143,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.6975672245025635},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6294910311698914},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6116173267364502},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.49130240082740784},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.47690677642822266},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4334626793861389},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4065708816051483},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18182533979415894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0813782811164856}],"concepts":[{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.6975672245025635},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6294910311698914},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6116173267364502},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.49130240082740784},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.47690677642822266},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4334626793861389},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4065708816051483},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18182533979415894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0813782811164856}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc51009.2020.9143703","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2063854242","https://openalex.org/W2100707985","https://openalex.org/W2238833987","https://openalex.org/W1483672790","https://openalex.org/W1605071863","https://openalex.org/W2091860496","https://openalex.org/W2914847128","https://openalex.org/W2040169789","https://openalex.org/W2158010231","https://openalex.org/W2361912628"],"abstract_inverted_index":{"A":[0,97],"general":[1],"time-optimal":[2],"control":[3,133],"problem":[4,64,99,130],"in":[5,25,66],"the":[6,14,19,26,36,49,59,67,76,94,109,119,125,129],"presence":[7],"of":[8,17,21,40,48,69,93,118,124,131,134],"state":[9],"constraints":[10],"is":[11,100,138],"investigated.":[12],"From":[13],"application":[15,123],"point":[16],"view,":[18],"relevance":[20],"this":[22,43,63,81],"article":[23],"resides":[24],"necessity":[27],"to":[28,61,102,108,128],"deal":[29],"with":[30],"extremals":[31],"which":[32],"do":[33],"not":[34,53],"satisfy":[35],"typically":[37],"required":[38],"assumptions":[39],"regularity.":[41],"In":[42],"case,":[44],"some":[45],"useful":[46],"properties":[47],"Lagrange":[50],"multipliers":[51],"may":[52],"be":[54,112],"available":[55],"if":[56],"one":[57],"undertakes":[58],"effort":[60],"solve":[62,103],"numerically":[65],"framework":[68],"indirect":[70],"approach,":[71],"that":[72],"is,":[73],"by":[74,89],"using":[75],"maximum":[77],"principle.":[78],"To":[79],"overcome":[80],"difficulty,":[82],"we":[83],"develop":[84],"a":[85,106,135],"certain":[86],"regularization":[87],"technique":[88],"constructing":[90],"regular":[91,98],"approximations":[92],"original":[95,120],"problem.":[96],"possible":[101],"numerically,":[104],"thus,":[105],"solution":[107],"\u03b5-approximation":[110],"can":[111],"considered":[113],"as":[114],"an":[115],"approximate":[116],"calculation":[117],"solution.":[121],"One":[122],"proposed":[126],"method":[127],"optimal":[132],"mobile":[136],"robot":[137],"provided.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
