{"id":"https://openalex.org/W2910310137","doi":"https://doi.org/10.1017/s0263574718001443","title":"A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations","display_name":"A Feedback Linearization-Based Motion Controller for a UWMR with Experimental Evaluations","publication_year":2019,"publication_date":"2019-01-18","ids":{"openalex":"https://openalex.org/W2910310137","doi":"https://doi.org/10.1017/s0263574718001443","mag":"2910310137"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574718001443","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718001443","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/A5042162965","display_name":"Luis Gonzalo Montoya-Villegas","orcid":"https://orcid.org/0000-0002-6301-9249"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Luis Montoya-Villegas","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, M\u00e9xico E-mail:"],"raw_orcid":"https://orcid.org/0000-0002-6301-9249","affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, M\u00e9xico E-mail:","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Javier Moreno-Valenzuela","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, M\u00e9xico E-mail:"],"raw_orcid":"https://orcid.org/0000-0003-0670-5979","affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, M\u00e9xico E-mail:","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061449861","display_name":"Ricardo P\u00e9rez\u2010Alcocer","orcid":"https://orcid.org/0000-0002-1543-3701"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ricardo P\u00e9rez-Alcocer","raw_affiliation_strings":["CONACYT-Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, M\u00e9xico E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CONACYT-Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Baja California 22435, M\u00e9xico E-mail:","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5042162965"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8065,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.8480566,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"37","issue":"6","first_page":"1073","last_page":"1089"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9980000257492065,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8109589219093323},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6844590902328491},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6472024321556091},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6407333016395569},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6026285290718079},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5395599603652954},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5044952630996704},{"id":"https://openalex.org/keywords/motion-controller","display_name":"Motion controller","score":0.4986288547515869},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4442654848098755},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4395253360271454},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4188273847103119},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4102252721786499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3857998847961426},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38472771644592285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22819176316261292},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2112351357936859},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20303142070770264},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1928354799747467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19183754920959473},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.18716314435005188}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8109589219093323},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6844590902328491},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6472024321556091},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6407333016395569},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026285290718079},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5395599603652954},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5044952630996704},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.4986288547515869},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4442654848098755},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4395253360271454},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4188273847103119},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4102252721786499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3857998847961426},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38472771644592285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22819176316261292},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2112351357936859},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20303142070770264},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1928354799747467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19183754920959473},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.18716314435005188},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574718001443","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718001443","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W90274328","https://openalex.org/W130083205","https://openalex.org/W869239512","https://openalex.org/W1487127700","https://openalex.org/W1499913502","https://openalex.org/W1545775168","https://openalex.org/W1560976374","https://openalex.org/W1758214019","https://openalex.org/W1986107377","https://openalex.org/W1988560433","https://openalex.org/W2008889363","https://openalex.org/W2016094569","https://openalex.org/W2023443269","https://openalex.org/W2047993072","https://openalex.org/W2049080811","https://openalex.org/W2065291386","https://openalex.org/W2065532817","https://openalex.org/W2154269883","https://openalex.org/W2158708576","https://openalex.org/W2214731807","https://openalex.org/W2268394754","https://openalex.org/W2290047790","https://openalex.org/W2437045833","https://openalex.org/W2496484988","https://openalex.org/W2526519744","https://openalex.org/W2555765291","https://openalex.org/W2563394581","https://openalex.org/W2619387921","https://openalex.org/W2734847652","https://openalex.org/W2744616080","https://openalex.org/W2789778114","https://openalex.org/W3143148894","https://openalex.org/W4292408404"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2165424018","https://openalex.org/W2317650444","https://openalex.org/W2964841342"],"abstract_inverted_index":{"Summary":[0],"In":[1,96],"this":[2],"paper,":[3],"the":[4,31,55,60,70,113,117],"feedback":[5],"linearization":[6],"approach":[7,62],"is":[8,24,37],"used":[9,91],"to":[10,59,76],"introduce":[11],"a":[12,27],"motion":[13,105],"controller":[14,115],"for":[15,103],"unicycle-type":[16],"wheeled":[17],"mobile":[18],"robots":[19],"(UWMRs).":[20],"The":[21,34,67,81,109],"output":[22],"function":[23],"defined":[25],"as":[26],"linear":[28],"combination":[29],"of":[30,65,69,100],"error":[32],"state.":[33],"novel":[35],"scheme":[36],"firstly":[38],"tested":[39,72],"in":[40,92],"numerical":[41],"simulation":[42],"and":[43,57,86],"compared":[44,58],"with":[45],"its":[46],"corresponding":[47],"experimental":[48,94,101],"result.":[49],"Three":[50],"controllers":[51,73],"are":[52,74,90,107],"taken":[53],"from":[54],"literature":[56],"proposed":[61,114],"by":[63],"means":[64],"experiments.":[66],"gains":[68],"experimentally":[71],"selected":[75],"obtain":[77],"identical":[78],"energy":[79],"consumption.":[80],"Optitrack":[82],"commercial":[83],"vision":[84],"system":[85],"Pioneer":[87],"P3-DX":[88],"UWMR":[89],"real-time":[93],"tests.":[95],"addition,":[97],"two":[98],"sets":[99],"results":[102,110],"different":[104],"tasks":[106],"provided.":[108],"show":[111],"that":[112],"presents":[116],"best":[118],"tracking":[119],"accuracy.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}