{"id":"https://openalex.org/W7203621202","doi":"https://doi.org/10.1109/gcon69192.2026.11648385","title":"Composite nonlinear trajectory tracking control of omnidirectional mobile robots","display_name":"Composite nonlinear trajectory tracking control of omnidirectional mobile robots","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7203621202","doi":"https://doi.org/10.1109/gcon69192.2026.11648385"},"language":"en","primary_location":{"id":"doi:10.1109/gcon69192.2026.11648385","doi":"https://doi.org/10.1109/gcon69192.2026.11648385","is_oa":true,"landing_page_url":"https://doi.org/10.1109/gcon69192.2026.11648385","pdf_url":null,"source":{"id":"https://openalex.org/S7407087217","display_name":"IEEE Guwahati Subsection Conference (GCON)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE Guwahati Subsection Conference (GCON)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/gcon69192.2026.11648385","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084163138","display_name":"Ankur Deka","orcid":"https://orcid.org/0009-0002-7908-9513","observed_orcids":["https://orcid.org/0009-0002-7908-9513"]},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ankur Deka","raw_affiliation_strings":["IIT Guwahati"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIT Guwahati","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008397353","display_name":"Basireddy Sandeep Reddy","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sandeep Reddy Basireddy","raw_affiliation_strings":["IIT Guwahati"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIT Guwahati","institution_ids":["https://openalex.org/I1317621060"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1317621060"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.62565222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-mobile-robot","display_name":"omnidirectional mobile robot","score":0.9150000214576721},{"id":"https://openalex.org/keywords/trajectory-tracking-control","display_name":"trajectory tracking control","score":0.9100000262260437},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"nonlinear control","score":0.875},{"id":"https://openalex.org/keywords/composite-control","display_name":"composite control","score":0.8140000104904175},{"id":"https://openalex.org/keywords/mobile-robot-control","display_name":"mobile robot control","score":0.5630000233650208}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6643999814987183},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.609000027179718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5699999928474426},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4887999892234802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4772999882698059},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44760000705718994},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3970000147819519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3946000039577484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39419999718666077},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.373199999332428},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.36079999804496765},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2946000099182129},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2653999924659729},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.2590000033378601},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.2547000050544739},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/gcon69192.2026.11648385","doi":"https://doi.org/10.1109/gcon69192.2026.11648385","is_oa":true,"landing_page_url":"https://doi.org/10.1109/gcon69192.2026.11648385","pdf_url":null,"source":{"id":"https://openalex.org/S7407087217","display_name":"IEEE Guwahati Subsection Conference (GCON)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE Guwahati Subsection Conference (GCON)","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1109/gcon69192.2026.11648385","doi":"https://doi.org/10.1109/gcon69192.2026.11648385","is_oa":true,"landing_page_url":"https://doi.org/10.1109/gcon69192.2026.11648385","pdf_url":null,"source":{"id":"https://openalex.org/S7407087217","display_name":"IEEE Guwahati Subsection Conference (GCON)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE Guwahati Subsection Conference (GCON)","raw_type":"proceedings-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W397123209","https://openalex.org/W1506295672","https://openalex.org/W2051671655","https://openalex.org/W2076420009","https://openalex.org/W2087146246","https://openalex.org/W2099127171","https://openalex.org/W2117135317","https://openalex.org/W2158866304","https://openalex.org/W2166664886","https://openalex.org/W2650627322","https://openalex.org/W2746614361","https://openalex.org/W3034580387","https://openalex.org/W3083752641","https://openalex.org/W3092068513","https://openalex.org/W4284990024","https://openalex.org/W4286771180","https://openalex.org/W4385242304","https://openalex.org/W4403296535","https://openalex.org/W4405524237","https://openalex.org/W4405912052","https://openalex.org/W4408338747"],"related_works":["https://openalex.org/W7165786174","https://openalex.org/W2955286331","https://openalex.org/W2735693794","https://openalex.org/W3210172867","https://openalex.org/W7206156802","https://openalex.org/W4410745065","https://openalex.org/W6960024948","https://openalex.org/W6903825505","https://openalex.org/W2370435499","https://openalex.org/W2996688900"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,29,36,55,98],"trajectory":[4,22],"tracking":[5,23,97],"control":[6],"scheme":[7],"for":[8,96],"omnidirectional":[9],"mobile":[10],"robots":[11],"(OMR)":[12],"using":[13,90],"the":[14,49,52,61,69,85,105,110,114,120,124],"principles":[15],"of":[16,51,54,68,84,109,116],"composite":[17,30],"nonlinear":[18,31,39,44],"control.":[19],"The":[20,43,66,82],"OMR":[21,100],"error":[24,62],"system":[25,77,87],"is":[26,46,72,88],"stabilized":[27],"on":[28,48],"sliding":[32,40,70],"surface,":[33],"which":[34],"comprises":[35],"linear":[37],"and":[38,79,93,107,123],"function":[41],"coefficients.":[42],"coefficient":[45],"designed":[47],"basis":[50],"principle":[53],"variable":[56],"damping":[57],"ratio,":[58],"to":[59,103],"improve":[60],"system\u2019s":[63],"transient":[64],"performance.":[65],"existence":[67],"mode":[71],"shown":[73],"by":[74],"rejecting":[75],"all":[76],"uncertainties,":[78],"input":[80],"saturation.":[81],"stability":[83],"closed-loop":[86],"proved":[89],"Lyapunov":[91],"theory,":[92],"numerical":[94],"simulations":[95],"3-wheel":[99],"are":[101],"presented":[102],"validate":[104],"effectiveness":[106],"superiority":[108],"proposed":[111],"approach,":[112],"especially":[113],"reduction":[115],"overshoot":[117],"in":[118],"both":[119],"robot\u2019s":[121],"plane":[122],"error-space.":[125]},"counts_by_year":[],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2026-08-18T00:00:00"}
