{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T20:40:57Z","timestamp":1782938457130,"version":"3.54.5"},"reference-count":46,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"7","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["864686"],"award-info":[{"award-number":["864686"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Konrad Zuse School of Excellence"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Contr."],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1109\/tac.2026.3662545","type":"journal-article","created":{"date-parts":[[2026,2,9]],"date-time":"2026-02-09T21:11:11Z","timestamp":1770671471000},"page":"4435-4449","source":"Crossref","is-referenced-by-count":0,"title":["Exponentially Stable Projector-Based Control of Lagrangian Systems With Gaussian Processes"],"prefix":"10.1109","volume":"71","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2224-6824","authenticated-orcid":false,"given":"Giulio","family":"Evangelisti","sequence":"first","affiliation":[{"name":"Chair of Information-oriented Control, TUM School of Computation, Information and Technology, the Munich Data Science Institute, and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1067-1134","authenticated-orcid":false,"given":"Cosimo Della","family":"Santina","sequence":"additional","affiliation":[{"name":"Cognitive Robotics Department, Delft University of Technology, Delft, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7819-5926","authenticated-orcid":false,"given":"Sandra","family":"Hirche","sequence":"additional","affiliation":[{"name":"Chair of Information-oriented Control, TUM School of Computation, Information and Technology, the Munich Data Science Institute, and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3366818"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1002\/gamm.202100009"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1063\/5.0048129"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.cam.2022.114780"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3474851"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/02783649231169492"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968268"},{"issue":"1","key":"ref8","doi-asserted-by":"crossref","first-page":"2828","DOI":"10.1016\/S1474-6670(17)58105-7","article-title":"Energy based control of a class of underactuated mechanical systems","volume":"29","author":"Spong","year":"1996","journal-title":"IFAC Proc. Volumes"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650850"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2876389"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2019.01.023"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2019.2958840"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2949757"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2020.3000182"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.5361"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s10883-009-9071-2"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919897292"},{"key":"ref18","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2023.110928","article-title":"An LMI framework for contraction-based nonlinear control design by derivatives of Gaussian process regression","volume":"151","author":"Kawano","year":"2023","journal-title":"Automatica"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-60916-4_23"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-004-0527-x"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CDC51059.2022.9993123"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906130"},{"key":"ref23","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-3603-3","volume-title":"Passivity-based Control Euler-Lagrange Systems","author":"Ortega","year":"1998"},{"key":"ref24","volume-title":"Classical Mechanics","author":"Goldstein","year":"2002"},{"key":"ref25","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4612-0597-5","volume-title":"Principles of Analytical System Dynamics","author":"Layton","year":"1998"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/3206.001.0001"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcp.2017.01.060"},{"key":"ref28","first-page":"1057","article-title":"Derivative observations in Gaussian process models of dynamic systems","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Solak","year":"2002"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1561\/2200000036"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.3390\/e22020152"},{"key":"ref31","first-page":"1415","article-title":"Physically consistent modeling & identification of nonlinear friction with dissipative Gaussian processes","volume-title":"Proc. 6th Annu. Learn. Dyn. & Control Conf.","volume":"242","author":"Dai","year":"2024"},{"key":"ref32","article-title":"Deep Lagrangian networks: Using physics as model prior for deep learning","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Lutter","year":"2019"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1201\/9781315136370"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1201\/b17040"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2004.1384688"},{"key":"ref36","first-page":"17518","article-title":"Sparsely changing latent states for prediction and planning in partially observable domains","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Gumbsch","year":"2021"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0653-8"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(98)00019-3"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/BF00939420"},{"key":"ref41","doi-asserted-by":"crossref","DOI":"10.1137\/1.9781611970777","volume-title":"Linear Matrix Inequalities System Control Theory","volume":"15","author":"Stephen Boyd","year":"1994"},{"issue":"501","key":"ref42","doi-asserted-by":"crossref","first-page":"460","DOI":"10.2307\/3620776","article-title":"Determinants of block matrices","volume":"84","author":"Silvester","year":"2000","journal-title":"Math. Gazette"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOSOFT.2018.8404895"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2014.913503"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref46","article-title":"Automatic model construction with Gaussian processes","author":"Duvenaud","year":"2014"}],"container-title":["IEEE Transactions on Automatic Control"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/9\/11589485\/11373903.pdf?arnumber=11373903","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T19:39:10Z","timestamp":1782934750000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11373903\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":46,"journal-issue":{"issue":"7"},"URL":"https:\/\/doi.org\/10.1109\/tac.2026.3662545","relation":{},"ISSN":["0018-9286","1558-2523","2334-3303"],"issn-type":[{"value":"0018-9286","type":"print"},{"value":"1558-2523","type":"electronic"},{"value":"2334-3303","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7]]}}}