{"id":"https://openalex.org/W2101124636","doi":"https://doi.org/10.1109/cdc.2000.914117","title":"On passivity based control for partial stabilization of underactuated systems","display_name":"On passivity based control for partial stabilization of underactuated systems","publication_year":2002,"publication_date":"2002-11-11","ids":{"openalex":"https://openalex.org/W2101124636","doi":"https://doi.org/10.1109/cdc.2000.914117","mag":"2101124636"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2000.914117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2000.914117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","raw_type":"proceedings-article"},"type":"article","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/A5044859972","display_name":"Anton Shiriaev","orcid":"https://orcid.org/0000-0002-9404-6442"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"A.S. Shiriaev","raw_affiliation_strings":["Maersk Mc-Kinney Moller Inst. for Production Technol., Univ. of Southern Denmark, Odense, Denmark","[Maersk Mc-Kinney Moller Institute for Production Technology, University of Southern Denmark, Odense, Denmark]"],"affiliations":[{"raw_affiliation_string":"Maersk Mc-Kinney Moller Inst. for Production Technol., Univ. of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]},{"raw_affiliation_string":"[Maersk Mc-Kinney Moller Institute for Production Technology, University of Southern Denmark, Odense, Denmark]","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083055291","display_name":"Olga Kolesnichenko","orcid":"https://orcid.org/0000-0002-4523-6485"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"O. Kolesnichenko","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044859972"],"corresponding_institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"],"apc_list":null,"apc_paid":null,"fwci":2.5529,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88866854,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2174","last_page":"2179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical 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/T12772","display_name":"Control and Stability of Dynamical 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":0.9894999861717224,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9883000254631042,"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/underactuation","display_name":"Underactuation","score":0.8056596517562866},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.797724723815918},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.77131587266922},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.6770212650299072},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6680585145950317},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5396440625190735},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4621252715587616},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.45295557379722595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41765278577804565},{"id":"https://openalex.org/keywords/control-variable","display_name":"Control variable","score":0.41705676913261414},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4082260727882385},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2519885301589966},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23847484588623047},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06919991970062256},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0658012330532074}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8056596517562866},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.797724723815918},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.77131587266922},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.6770212650299072},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6680585145950317},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5396440625190735},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4621252715587616},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.45295557379722595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41765278577804565},{"id":"https://openalex.org/C153240184","wikidata":"https://www.wikidata.org/wiki/Q3243772","display_name":"Control variable","level":2,"score":0.41705676913261414},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4082260727882385},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2519885301589966},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23847484588623047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06919991970062256},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0658012330532074},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2000.914117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2000.914117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/dc35dcd0-98f1-11dc-9626-000ea68e967b","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/dc35dcd0-98f1-11dc-9626-000ea68e967b","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Shiriaev, A S & Kolesnichenko, O V 2000, On passivity based control for partial stabilization of underactuated systems. in Proceedings of the 39th Conference on Decision and Control, Sydney. IEEE, pp. 2174-2179, Conference on Decision and Control, 24/08/2010. https://doi.org/10.1109/cdc.2000.914117","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1543651123","https://openalex.org/W2111683789","https://openalex.org/W2140907765","https://openalex.org/W2171397601","https://openalex.org/W2177912002","https://openalex.org/W2180557048"],"related_works":["https://openalex.org/W2136599217","https://openalex.org/W4281252219","https://openalex.org/W2581872955","https://openalex.org/W2005996332","https://openalex.org/W1976025103","https://openalex.org/W1982014502","https://openalex.org/W1989001513","https://openalex.org/W2566554758","https://openalex.org/W2085316060","https://openalex.org/W2087352281"],"abstract_inverted_index":{"The":[0],"stabilization":[1],"problem":[2,89],"for":[3],"a":[4,71],"class":[5],"of":[6,14,26,39,50,54,78,90],"underactuated":[7],"Lagrangian":[8],"systems":[9],"with":[10],"respect":[11],"to":[12],"part":[13,25],"the":[15,27,37,40,48,51,55,62,74,79,88,92],"state":[16,28,80],"variables":[17,29,41,81],"is":[18,21,30,94],"considered.":[19,95],"It":[20],"assumed":[22],"that":[23],"this":[24,66,86],"directly":[31],"affected":[32],"by":[33,73],"control.":[34],"Moreover,":[35],"on":[36,47],"rest":[38],"we":[42],"impose":[43],"additional":[44],"constraints,":[45],"based":[46],"form":[49],"total":[52],"energy":[53],"system,":[56],"which":[57],"should":[58],"be":[59,68],"valid":[60],"after":[61],"transition":[63],"time.":[64],"Intuitively":[65],"can":[67],"interpreted":[69],"as":[70],"decoupling,":[72],"suggested":[75],"control":[76],"strategy,":[77],"into":[82],"parts.":[83],"To":[84],"motivate":[85],"investigation,":[87],"swinging":[91],"Pendubot":[93]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"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"}
