{"id":"https://openalex.org/W2013594580","doi":"https://doi.org/10.1049/iet-cta.2011.0169","title":"Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach","display_name":"Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach","publication_year":2012,"publication_date":"2012-01-10","ids":{"openalex":"https://openalex.org/W2013594580","doi":"https://doi.org/10.1049/iet-cta.2011.0169","mag":"2013594580"},"language":"en","primary_location":{"id":"doi:10.1049/iet-cta.2011.0169","doi":"https://doi.org/10.1049/iet-cta.2011.0169","is_oa":false,"landing_page_url":"https://doi.org/10.1049/iet-cta.2011.0169","pdf_url":null,"source":{"id":"https://openalex.org/S46640599","display_name":"IET Control Theory and Applications","issn_l":"1751-8644","issn":["1751-8644","1751-8652"],"is_oa":false,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-c","jufo-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IET Control Theory & Applications","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"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/A5090784641","display_name":"Khoshnam Shojaei","orcid":"https://orcid.org/0000-0003-1799-2141","observed_orcids":["https://orcid.org/0000-0003-1799-2141"]},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"K. Shojaei","raw_affiliation_strings":["Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102969740","display_name":"Alireza Mohammad Shahri","orcid":"https://orcid.org/0000-0002-6604-0799","observed_orcids":["https://orcid.org/0000-0002-6604-0799"]},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"A.M. Shahri","raw_affiliation_strings":["Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I67009956"],"apc_list":{"value":3300,"currency":"USD","value_usd":3300},"apc_paid":null,"fwci":8.763,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.9746863,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"216","last_page":"228"},"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":1.0,"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":1.0,"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":0.0,"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":0.0,"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/wheeled-mobile-robots","display_name":"wheeled mobile robots","score":0.9629999995231628},{"id":"https://openalex.org/keywords/nonholonomic-constraints","display_name":"nonholonomic constraints","score":0.949999988079071},{"id":"https://openalex.org/keywords/trajectory-tracking-control","display_name":"trajectory tracking control","score":0.9480000138282776},{"id":"https://openalex.org/keywords/output-feedback","display_name":"output feedback","score":0.7279999852180481},{"id":"https://openalex.org/keywords/dynamic-surface-control","display_name":"dynamic surface control","score":0.9950000047683716},{"id":"https://openalex.org/keywords/input-output-model","display_name":"input-output model","score":0.7089999914169312},{"id":"https://openalex.org/keywords/observer-based-control","display_name":"observer-based control","score":0.8550000190734863},{"id":"https://openalex.org/keywords/robust-adaptive-control","display_name":"robust adaptive control","score":0.8240000009536743},{"id":"https://openalex.org/keywords/actuator-dynamics","display_name":"actuator dynamics","score":0.878000020980835},{"id":"https://openalex.org/keywords/model-uncertainty","display_name":"model uncertainty","score":0.6439999938011169},{"id":"https://openalex.org/keywords/uniform-ultimate-boundedness","display_name":"uniform ultimate boundedness","score":0.7749999761581421},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.8299999833106995}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8225684762001038},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6877139806747437},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6804996728897095},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6739963889122009},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6218481659889221},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5432521104812622},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5158964395523071},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.49049729108810425},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4892706573009491},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47501930594444275},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45648810267448425},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4357345700263977},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4272938072681427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30201905965805054},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2303694486618042},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17339792847633362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14697185158729553},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10228970646858215},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1049/iet-cta.2011.0169","doi":"https://doi.org/10.1049/iet-cta.2011.0169","is_oa":false,"landing_page_url":"https://doi.org/10.1049/iet-cta.2011.0169","pdf_url":null,"source":{"id":"https://openalex.org/S46640599","display_name":"IET Control Theory and Applications","issn_l":"1751-8644","issn":["1751-8644","1751-8652"],"is_oa":false,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-c","jufo-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IET Control Theory & Applications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1520358907","https://openalex.org/W1552407991","https://openalex.org/W1575037797","https://openalex.org/W1970299051","https://openalex.org/W1976754515","https://openalex.org/W1987394588","https://openalex.org/W1988572219","https://openalex.org/W2028044548","https://openalex.org/W2045507815","https://openalex.org/W2050673413","https://openalex.org/W2052871783","https://openalex.org/W2054908067","https://openalex.org/W2057494687","https://openalex.org/W2069612046","https://openalex.org/W2089567725","https://openalex.org/W2101343911","https://openalex.org/W2102620728","https://openalex.org/W2105030558","https://openalex.org/W2112456688","https://openalex.org/W2113130566","https://openalex.org/W2113347205","https://openalex.org/W2115990616","https://openalex.org/W2117321644","https://openalex.org/W2120944681","https://openalex.org/W2121426651","https://openalex.org/W2122561468","https://openalex.org/W2124980883","https://openalex.org/W2127516259","https://openalex.org/W2130535256","https://openalex.org/W2133066324","https://openalex.org/W2148319451","https://openalex.org/W2150531296","https://openalex.org/W2150745354","https://openalex.org/W2151296230","https://openalex.org/W2156833998","https://openalex.org/W2160218099","https://openalex.org/W2165867693","https://openalex.org/W2168097327"],"related_works":["https://openalex.org/W2547562477","https://openalex.org/W2116080637","https://openalex.org/W2113130566","https://openalex.org/W2121426651","https://openalex.org/W2288454072","https://openalex.org/W1976754515","https://openalex.org/W3037033620","https://openalex.org/W2913845422","https://openalex.org/W4404340397","https://openalex.org/W1976472251"],"abstract_inverted_index":{"This":[0],"study":[1],"addresses":[2],"the":[3,18,46,49,64,76,79,93,105,111,138,143],"trajectory":[4,58],"tracking":[5,59,90,123],"control":[6,51,82],"problem":[7],"of":[8,20,31,38,53,142],"electrically":[9],"driven":[10],"wheeled":[11,39,66],"mobile":[12,40,67],"robots":[13,41],"under":[14],"non-holonomic":[15],"constraints":[16],"in":[17,72,110],"presence":[19],"model":[21,37],"uncertainties":[22,109],"without":[23],"velocity":[24],"measurement.":[25],"By":[26],"defining":[27],"a":[28,34,89],"suitable":[29],"set":[30],"output":[32],"equations,":[33],"new":[35,65],"input\u2013output":[36],"is":[42,61,84,118],"developed,":[43],"which":[44],"helps":[45],"designer":[47],"utilise":[48],"classic":[50],"algorithms":[52],"robot":[54,68],"manipulators.":[55],"An":[56],"observer-based":[57],"controller":[60,91],"proposed":[62,144],"for":[63],"(WMR)":[69],"model.":[70,113],"Then,":[71],"order":[73],"to":[74,87,102,120,136],"reduce":[75],"design":[77],"complexity,":[78],"dynamic":[80],"surface":[81],"approach":[83],"effectively":[85],"exploited":[86],"propose":[88],"considering":[92],"actuator":[94],"dynamics.":[95],"Adaptive":[96],"robust":[97],"techniques":[98],"are":[99,128,134],"also":[100],"adopted":[101],"cope":[103],"with":[104],"parametric":[106],"and":[107,124,140],"non-parametric":[108],"WMR":[112],"A":[114],"Lyapunov-based":[115],"stability":[116],"analysis":[117],"utilised":[119],"guarantee":[121],"that":[122],"state":[125],"estimation":[126],"errors":[127],"uniformly":[129],"ultimately":[130],"bounded.":[131],"Simulation":[132],"results":[133],"presented":[135],"illustrate":[137],"feasibility":[139],"efficiency":[141],"controller.":[145]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}