{"id":"https://openalex.org/W7106333820","doi":"https://doi.org/10.48550/arxiv.2511.15219","title":"Nonholonomic Robot Parking by Feedback -- Part II: Nonmodular, Inverse Optimal, Adaptive, Prescribed/Fixed-Time and Safe Designs","display_name":"Nonholonomic Robot Parking by Feedback -- Part II: Nonmodular, Inverse Optimal, Adaptive, Prescribed/Fixed-Time and Safe Designs","publication_year":2025,"publication_date":"2025-11-19","ids":{"openalex":"https://openalex.org/W7106333820","doi":"https://doi.org/10.48550/arxiv.2511.15219"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2511.15219","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.15219","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2511.15219","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Kim, Kwang Hak","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Kwang Hak","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Todorovski, Velimir","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Todorovski, Velimir","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Krsti\u0107, Miroslav","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Krsti\u0107, Miroslav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.4787999987602234,"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":0.4787999987602234,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.15950000286102295,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.11999999731779099,"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":0.7669000029563904},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7645000219345093},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.690500020980835},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.641700029373169},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.5813000202178955},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.46059998869895935},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.33889999985694885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32910001277923584}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7669000029563904},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7645000219345093},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.690500020980835},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.641700029373169},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.5813000202178955},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.46059998869895935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4489000141620636},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.33889999985694885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3269999921321869},{"id":"https://openalex.org/C2780012671","wikidata":"https://www.wikidata.org/wiki/Q1343870","display_name":"Corollary","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.303600013256073},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29330000281333923},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2883000075817108},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2847000062465668},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28369998931884766},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2825999855995178},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.27410000562667847},{"id":"https://openalex.org/C2778512855","wikidata":"https://www.wikidata.org/wiki/Q6036808","display_name":"Input shaping","level":4,"score":0.2689000070095062},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.25110000371932983},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2511.15219","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.15219","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2511.15219","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2511.15219","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.40931835770606995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"For":[0],"the":[1,9,20,46,72,86,116,136,173,176,188,220],"unicycle":[2],"system,":[3],"we":[4,74,126,148,196],"provide":[5],"constructive":[6,214],"methods":[7],"for":[8,71,85,131,217],"design":[10,78,165,195,215],"of":[11,19,37,48,68,82,138,171,219],"feedback":[12,83,100],"laws":[13,84,101,130],"that":[14,151,182],"have":[15],"one":[16],"or":[17,35,60],"more":[18],"following":[21],"properties:":[22],"being":[23],"nonmodular":[24,52],"and":[25,43,80,109,175,178],"globally":[26],"exponentially":[27],"stabilizing,":[28,42],"inverse":[29,90,98],"optimal,":[30],"robust":[31],"to":[32,65,94,106,115,122,169],"arbitrary":[33],"decrease":[34],"increase":[36],"input":[38,112,124],"coefficients,":[39,125,134],"adaptive,":[40],"prescribed/fixed-time":[41],"safe":[44],"(ensuring":[45],"satisfaction":[47],"state":[49],"constraints).":[50],"Our":[51],"backstepping":[53],"feedbacks":[54],"are":[55,89,102],"implementable":[56],"with":[57,92,104,142,166,192,207],"either":[58],"unidirectional":[59],"bidirectional":[61],"velocity":[62],"actuation.":[63],"Thanks":[64],"constructing":[66],"families":[67,81],"strict":[69],"CLFs":[70],"unicycle,":[73,87],"introduce":[75],"a":[76,155,193,212],"general":[77],"framework":[79],"which":[88],"optimal":[91,99],"respect":[93],"meaningful":[95],"costs.":[96],"These":[97],"endowed":[103],"robustness":[105,121],"actuator":[107],"uncertainty":[108],"arbitrarily":[110],"low":[111],"saturation":[113],"due":[114],"unicycle's":[117],"driftlessness.":[118],"Besides":[119],"ensuring":[120],"unknown":[123,133],"also":[127],"develop":[128,149],"adaptive":[129],"these":[132],"enabling":[135],"achievement":[137],"good":[139],"transient":[140],"performance":[141],"lower":[143],"initial":[144],"control":[145,181],"effort.":[146],"Additionally,":[147],"controllers":[150],"achieve":[152],"stabilization":[153,218],"within":[154],"user-specified":[156],"time":[157],"horizon":[158],"using":[159],"two":[160],"systematic":[161],"methods:":[162],"time-dilated":[163],"prescribed-time":[164],"smooth-in-time":[167],"convergence":[168],"zero":[170],"both":[172],"states":[174],"inputs":[177],"homogeneity-based":[179],"fixed-time":[180],"provides":[183],"an":[184],"explicit":[185],"bound":[186],"on":[187],"settling":[189],"time.":[190],"Finally,":[191],"nonovershooting":[194],"guarantee":[197],"strictly":[198],"forward":[199],"motion":[200],"without":[201],"curb":[202],"violation.":[203],"This":[204],"article,":[205],"along":[206],"its":[208],"Part":[209],"I,":[210],"lays":[211],"broad":[213],"foundation":[216],"nonholonomic":[221],"unicycle.":[222]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-11-23T00:00:00"}
