{"id":"https://openalex.org/W1977157123","doi":"https://doi.org/10.1002/(sici)1097-4563(199904)16:4<237::aid-rob4>3.0.co;2-f","title":"Feedback control strategies for a nonholonomic mobile robot using a nonlinear oscillator","display_name":"Feedback control strategies for a nonholonomic mobile robot using a nonlinear oscillator","publication_year":1999,"publication_date":"1999-04-01","ids":{"openalex":"https://openalex.org/W1977157123","doi":"https://doi.org/10.1002/(sici)1097-4563(199904)16:4<237::aid-rob4>3.0.co;2-f","mag":"1977157123"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199904)16:4<237::aid-rob4>3.0.co;2-f","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199904)16:4<237::aid-rob4>3.0.co;2-f","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-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/A5078043600","display_name":"Ranjan Mukherjee","orcid":"https://orcid.org/0000-0002-7211-1362"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ranjan Mukherjee","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, East Lansing, Michigan 48824","Department of Mechanical Engineering , Michigan State University , East Lansing, Michigan, 48824"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, East Lansing, Michigan 48824","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Department of Mechanical Engineering , Michigan State University , East Lansing, Michigan, 48824","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101873076","display_name":"Degang Chen","orcid":"https://orcid.org/0000-0002-5938-6329"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Degang Chen","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Iowa State University, Ames, Iowa 50011","\u2020Department of Electrical and Computer Engineering, Iowa State University, Ames, Iowa 50011"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Iowa State University, Ames, Iowa 50011","institution_ids":["https://openalex.org/I173911158"]},{"raw_affiliation_string":"\u2020Department of Electrical and Computer Engineering, Iowa State University, Ames, Iowa 50011","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045166512","display_name":"Gangbing Song","orcid":"https://orcid.org/0000-0001-5135-5555"},"institutions":[{"id":"https://openalex.org/I110152177","display_name":"University of Akron","ror":"https://ror.org/02kyckx55","country_code":"US","type":"education","lineage":["https://openalex.org/I110152177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gangbing Song","raw_affiliation_strings":["Department of Mechanical Engineering, University of Akron, Akron, Ohio 44325","Department of Mechanical Engineering; University of Akron; Akron Ohio 44325"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Akron, Akron, Ohio 44325","institution_ids":["https://openalex.org/I110152177"]},{"raw_affiliation_string":"Department of Mechanical Engineering; University of Akron; Akron Ohio 44325","institution_ids":["https://openalex.org/I110152177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078043600"],"corresponding_institution_ids":["https://openalex.org/I87216513"],"apc_list":null,"apc_paid":null,"fwci":0.802,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.74464736,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":"4","first_page":"237","last_page":"248"},"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":0.9940000176429749,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.7963464260101318},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6160975098609924},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5900291800498962},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5659250617027283},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5171679854393005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5151809453964233},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4490271508693695},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4230806529521942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3891046345233917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3420622646808624},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2687414288520813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15410903096199036}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7963464260101318},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6160975098609924},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5900291800498962},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5659250617027283},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5171679854393005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5151809453964233},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4490271508693695},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4230806529521942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3891046345233917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3420622646808624},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2687414288520813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15410903096199036},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199904)16:4<237::aid-rob4>3.0.co;2-f","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199904)16:4<237::aid-rob4>3.0.co;2-f","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.484.9959","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.484.9959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://class.ece.iastate.edu/vlsi2/docs/Papers Done/1999-11-JRS-RM.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W43835639","https://openalex.org/W94566284","https://openalex.org/W1487127700","https://openalex.org/W1536334154","https://openalex.org/W1542776304","https://openalex.org/W1562773508","https://openalex.org/W1588450238","https://openalex.org/W1777873222","https://openalex.org/W1887006513","https://openalex.org/W1918546908","https://openalex.org/W1971044547","https://openalex.org/W2011070788","https://openalex.org/W2023285936","https://openalex.org/W2032128836","https://openalex.org/W2050439892","https://openalex.org/W2099761232","https://openalex.org/W2100165947","https://openalex.org/W2120944681","https://openalex.org/W2133361850","https://openalex.org/W2133661758","https://openalex.org/W2168090892","https://openalex.org/W4292872153","https://openalex.org/W6600577464","https://openalex.org/W6677951270"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2560046691","https://openalex.org/W1999724572","https://openalex.org/W4230754128","https://openalex.org/W2140749028"],"abstract_inverted_index":{"Among":[0],"control":[1,40,56,79,124,174],"problems":[2],"for":[3,26,70,105,139],"mobile":[4,27,71,107,183],"robots,":[5,28],"point-to-point":[6],"stabilization":[7],"is":[8,119,128,147,165],"the":[9],"most":[10],"challenging":[11],"since":[12,87],"it":[13],"does":[14],"not":[15],"admit":[16],"designs":[17],"with":[18,44],"smooth":[19,123],"static":[20],"state":[21],"feedback":[22],"laws.":[23],"Stabilization":[24],"strategies":[25,41,80,175],"and":[29,89,121,130,149,180],"nonholonomic":[30],"systems":[31],"generally,":[32],"are":[33,42],"smooth,":[34],"time-varying":[35],"or":[36],"nonsmooth,":[37],"time-invariant.":[38,131],"Time-varying":[39],"designed":[43,83],"umdamped":[45],"linear":[46],"oscillators":[47,69,86],"but":[48],"their":[49],"fixed":[50],"structure":[51],"offer":[52],"limited":[53],"flexibility":[54],"in":[55,65,162],"design.":[57],"The":[58,159],"central":[59],"theme":[60],"of":[61,67,76,94,112,143,169,182],"this":[62],"paper":[63],"lies":[64],"use":[66],"nonlinear":[68,85,115],"robot":[72,95,108,151,184],"control.":[73],"Large":[74],"numbers":[75],"qualitatively":[77],"different":[78,103],"can":[81,91],"be":[82,92],"using":[84,109],"stiffness":[88],"damping":[90],"functions":[93],"states.":[96],"We":[97],"demonstrate":[98],"by":[99],"designing":[100],"two":[101,110],"fundamentally":[102],"controllers":[104],"two-wheeled":[106],"variants":[111],"a":[113],"particular":[114],"oscillator.":[116],"First":[117],"controller":[118,127,134,146],"dynamic":[120],"generates":[122],"action.":[125],"Second":[126],"almost-smooth":[129],"While":[132],"first":[133],"guarantees":[135],"global":[136],"asymptotic":[137],"stability":[138,179],"any":[140,154],"desired":[141,157,186],"posture":[142,155,163],"robot,":[144],"second":[145],"stable,":[148],"converges":[150],"from":[152],"almost":[153],"to":[156,185],"posture.":[158,187],"only":[160],"gap":[161],"space":[164],"unstable":[166],"equilibrium":[167],"manifold":[168],"measure":[170],"zero.":[171],"For":[172],"both":[173],"we":[176],"mathematically":[177],"establish":[178],"convergence":[181],"Simulation":[188],"results":[189],"support":[190],"theoretical":[191],"claims.":[192],"\u00a91999":[193],"John":[194],"Wiley":[195],"&":[196],"Sons,":[197],"Inc.":[198]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}