{"id":"https://openalex.org/W2099331300","doi":"https://doi.org/10.1017/s0263574714001581","title":"Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot","display_name":"Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot","publication_year":2014,"publication_date":"2014-07-10","ids":{"openalex":"https://openalex.org/W2099331300","doi":"https://doi.org/10.1017/s0263574714001581","mag":"2099331300"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001581","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001581","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5079155612","display_name":"Zhengcai Cao","orcid":"https://orcid.org/0000-0003-0344-0207"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhengcai Cao","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China","institution_ids":["https://openalex.org/I75390827"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059355519","display_name":"Longjie Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longjie Yin","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China","institution_ids":["https://openalex.org/I75390827"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101455688","display_name":"Yili Fu","orcid":"https://orcid.org/0000-0001-7720-654X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yili Fu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jian S Dai","raw_affiliation_strings":["Centre for Robotics Research, King's College London, London WC2R 2LS, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College London, London WC2R 2LS, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079155612"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":0.8059,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.78833165,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34","issue":"2","first_page":"449","last_page":"467"},"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":0.9995999932289124,"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":0.9995999932289124,"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":0.9984999895095825,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/backstepping","display_name":"Backstepping","score":0.9079992771148682},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7328923344612122},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6523971557617188},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6436195969581604},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6162165999412537},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5976415872573853},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5450118780136108},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5275893807411194},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47447946667671204},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47252967953681946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4417106509208679},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4288175106048584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36462223529815674},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31952977180480957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25134700536727905},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11059454083442688}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9079992771148682},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7328923344612122},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6523971557617188},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6436195969581604},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6162165999412537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5976415872573853},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5450118780136108},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5275893807411194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47447946667671204},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47252967953681946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4417106509208679},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4288175106048584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36462223529815674},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31952977180480957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25134700536727905},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11059454083442688},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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":2,"locations":[{"id":"doi:10.1017/s0263574714001581","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001581","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/27baf9f3-6207-49c7-ab91-64309a281b92","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/27baf9f3-6207-49c7-ab91-64309a281b92","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cao , Z , Yin , L , Fu , Y &amp; Dai , J S 2016 , ' Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot ' , Robotica , vol. 34 , no. 2 , pp. 449-467 . https://doi.org/10.1017/S0263574714001581","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1986302906","https://openalex.org/W2012482373","https://openalex.org/W2032660679","https://openalex.org/W2038732186","https://openalex.org/W2068175365","https://openalex.org/W2073472989","https://openalex.org/W2100515417","https://openalex.org/W2109977670","https://openalex.org/W2110721107","https://openalex.org/W2114302218","https://openalex.org/W2115990616","https://openalex.org/W2118194043","https://openalex.org/W2120928344","https://openalex.org/W2121426651","https://openalex.org/W2136952170","https://openalex.org/W2148319451","https://openalex.org/W2165867693","https://openalex.org/W2168097327"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2394227063","https://openalex.org/W1577182676","https://openalex.org/W2020829486","https://openalex.org/W1847613412","https://openalex.org/W2016451691","https://openalex.org/W2972367213","https://openalex.org/W4382203996"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"investigates":[3],"the":[4,35,47,50,57,71,78,86,92,103,122,140,143],"vision-based":[5],"pose":[6],"stabilization":[7],"of":[8,37,52,81,105,142],"an":[9],"electrically":[10],"driven":[11],"nonholonomic":[12],"mobile":[13],"robot":[14,19,21],"with":[15,34,65],"parametric":[16],"uncertainties":[17],"in":[18,85,121],"kinematics,":[20],"dynamics,":[22],"and":[23,41,56],"actuator":[24],"dynamics.":[25],"A":[26],"robust":[27,111],"adaptive":[28,38,58],"visual":[29],"stabilizing":[30],"controller":[31,48],"is":[32,54,61,95,116],"proposed":[33,144],"utilization":[36],"control,":[39],"backstepping,":[40],"dynamic":[42,72],"surface":[43,73],"control":[44,59,74,93,108],"techniques.":[45],"For":[46],"design,":[49],"idea":[51],"backstepping":[53,87],"used":[55],"approach":[60],"adopted":[62],"to":[63,76,97,101,128,138],"deal":[64],"all":[66,119],"uncertainties.":[67],"We":[68],"also":[69],"apply":[70],"method":[75],"avoid":[77],"repeated":[79],"differentiations":[80],"virtual":[82],"controllers":[83],"existing":[84],"design":[88],"procedure":[89],"such":[90],"that":[91,118],"development":[94],"easier":[96],"be":[98,126,129],"implemented.":[99],"Moreover,":[100],"attenuate":[102],"effect":[104],"disturbances":[106],"on":[107],"performance,":[109],"smooth":[110],"compensators":[112],"are":[113,136],"exploited.":[114],"It":[115],"proved":[117],"signals":[120],"closed-loop":[123],"system":[124],"can":[125],"guaranteed":[127],"uniformly":[130],"ultimately":[131],"bounded.":[132],"Finally,":[133],"simulation":[134],"results":[135],"presented":[137],"illustrate":[139],"performance":[141],"controller.":[145]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
