{"id":"https://openalex.org/W1964665851","doi":"https://doi.org/10.1007/s10846-013-9881-z","title":"Cascaded VFO Control for Non-Standard N-Trailer Robots","display_name":"Cascaded VFO Control for Non-Standard N-Trailer Robots","publication_year":2013,"publication_date":"2013-09-18","ids":{"openalex":"https://openalex.org/W1964665851","doi":"https://doi.org/10.1007/s10846-013-9881-z","mag":"1964665851"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-013-9881-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-013-9881-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-013-9881-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-013-9881-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033779541","display_name":"Maciej Marcin Micha\u0142ek","orcid":"https://orcid.org/0000-0002-9953-703X"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Maciej Marcin Micha\u0142ek","raw_affiliation_strings":["Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Poznan, Poland","Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Poznan, Poland 60-965#TAB#"],"affiliations":[{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Poznan, Poland 60-965#TAB#","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005043534","display_name":"Marcin Kie\u0142czewski","orcid":"https://orcid.org/0000-0001-8868-0618"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Marcin Kie\u0142czewski","raw_affiliation_strings":["Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Poznan, Poland","Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Poznan, Poland 60-965#TAB#"],"affiliations":[{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Poznan, Poland 60-965#TAB#","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011161976","display_name":"Tomasz Jedwabny","orcid":null},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Tomasz Jedwabny","raw_affiliation_strings":["Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Poznan, Poland","Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Poznan, Poland 60-965#TAB#"],"affiliations":[{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Poznan, Poland 60-965#TAB#","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033779541"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":1.0099,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.79139395,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"77","issue":"3-4","first_page":"415","last_page":"432"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9926999807357788,"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/control-theory","display_name":"Control theory (sociology)","score":0.6408573389053345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6027961373329163},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5852178335189819},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5774816274642944},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5721401572227478},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5467445254325867},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5413292646408081},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.5350955724716187},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.508202075958252},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4310373067855835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4211563169956207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3752220869064331},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2248792052268982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2105996310710907},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.09447073936462402},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06954073905944824}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6408573389053345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6027961373329163},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5852178335189819},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5774816274642944},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5721401572227478},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5467445254325867},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5413292646408081},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.5350955724716187},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.508202075958252},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4310373067855835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4211563169956207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3752220869064331},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2248792052268982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2105996310710907},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.09447073936462402},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06954073905944824},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-013-9881-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-013-9881-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-013-9881-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-013-9881-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-013-9881-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-013-9881-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1964665851.pdf","grobid_xml":"https://content.openalex.org/works/W1964665851.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1523457751","https://openalex.org/W1530612844","https://openalex.org/W1576408494","https://openalex.org/W1984884934","https://openalex.org/W1997304447","https://openalex.org/W2013302117","https://openalex.org/W2042101825","https://openalex.org/W2062723919","https://openalex.org/W2085337433","https://openalex.org/W2085664321","https://openalex.org/W2096395363","https://openalex.org/W2098871947","https://openalex.org/W2099502148","https://openalex.org/W2100467575","https://openalex.org/W2101707470","https://openalex.org/W2104994754","https://openalex.org/W2111369225","https://openalex.org/W2112389721","https://openalex.org/W2113950786","https://openalex.org/W2120420383","https://openalex.org/W2124367238","https://openalex.org/W2124707628","https://openalex.org/W2126519404","https://openalex.org/W2127962152","https://openalex.org/W2127988032","https://openalex.org/W2139769822","https://openalex.org/W2141853156","https://openalex.org/W2164610190","https://openalex.org/W2165951625","https://openalex.org/W2169468938","https://openalex.org/W2171414411","https://openalex.org/W2181002973","https://openalex.org/W2537863368","https://openalex.org/W4234585610"],"related_works":["https://openalex.org/W642753772","https://openalex.org/W4313405128","https://openalex.org/W2351856355","https://openalex.org/W2540153221","https://openalex.org/W2033235512","https://openalex.org/W2785418798","https://openalex.org/W2364358820","https://openalex.org/W3095795506","https://openalex.org/W2050482021","https://openalex.org/W2291934224"],"abstract_inverted_index":{"Articulated":[0],"mobile":[1],"robots":[2,41,67],"consisting":[3],"of":[4,15,32,72,80,92,108,116,126,138,145,153,160],"a":[5,13,127,139,161],"tractor":[6],"and":[7,23,45,60,89,106,111,142],"passively":[8,73],"off-hooked":[9],"trailers":[10],"belong":[11],"to":[12,28,39,57],"class":[14],"highly":[16],"nonlinear,":[17],"nonholonomic,":[18],"structurally":[19],"unstable,":[20],"differentially":[21],"non-flat,":[22],"underactuated":[24],"dynamic":[25],"systems.":[26],"Due":[27],"the":[29,58,81,93,98,117,146,151],"mentioned":[30],"properties":[31],"their":[33],"kinematics,":[34],"motion":[35,136],"control":[36,48,63,109],"problems":[37],"related":[38],"N-trailer":[40],"(N-trailers)":[42],"are":[43,119,148],"non-trivial":[44],"challenging.":[46],"Cascaded":[47],"strategy":[49],"presented":[50],"in":[51,97],"this":[52],"paper":[53],"provides":[54],"unified":[55],"solution":[56],"set-point":[59],"trajectory":[61],"tracking":[62],"tasks":[64],"for":[65],"articulated":[66],"equipped":[68],"with":[69,158],"arbitrary":[70],"number":[71],"off-axle":[74],"hitched":[75],"trailers.":[76],"Practically":[77],"useful":[78],"features":[79],"proposed":[82],"controller":[83,96],"come":[84],"from":[85,90],"its":[86],"high":[87],"scalability":[88],"application":[91],"Vector-Field-Orientation":[94],"(VFO)":[95],"outer":[99],"loop,":[100],"which":[101,132],"ensures":[102],"fast":[103],"errors":[104],"convergence":[105],"simplicity":[107],"implementation":[110],"tuning.":[112],"Control":[113],"input":[114],"limitations":[115],"robot":[118],"directly":[120],"taken":[121],"into":[122],"account":[123],"by":[124,150],"utilization":[125],"simple":[128],"velocity":[129],"scaling":[130],"procedure":[131],"preserves":[133],"an":[134],"instantaneous":[135],"curvature":[137],"tractor.":[140],"Description":[141],"theoretical":[143],"substantiation":[144],"concept":[147],"followed":[149],"results":[152],"experimental":[154],"validation":[155],"tests":[156],"conducted":[157],"usage":[159],"3-trailer":[162],"semi-autonomous":[163],"vehicle.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}