{"id":"https://openalex.org/W2320026268","doi":"https://doi.org/10.1080/00207721.2015.1107149","title":"Formation tracker design of multiple mobile robots with wheel perturbations: adaptive output-feedback approach","display_name":"Formation tracker design of multiple mobile robots with wheel perturbations: adaptive output-feedback approach","publication_year":2015,"publication_date":"2015-11-02","ids":{"openalex":"https://openalex.org/W2320026268","doi":"https://doi.org/10.1080/00207721.2015.1107149","mag":"2320026268"},"language":"en","primary_location":{"id":"doi:10.1080/00207721.2015.1107149","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2015.1107149","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","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/A5053299526","display_name":"Sung Jin Yoo","orcid":"https://orcid.org/0000-0002-5580-7528"},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sung Jin Yoo","raw_affiliation_strings":["School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5053299526"],"corresponding_institution_ids":["https://openalex.org/I67900169"],"apc_list":null,"apc_paid":null,"fwci":1.3464,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84269443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"47","issue":"15","first_page":"3619","last_page":"3630"},"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":0.9997000098228455,"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":0.9997000098228455,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8293761014938354},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5677208304405212},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5546848177909851},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5134440660476685},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.49540388584136963},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4923206567764282},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.487533301115036},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4321277439594269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42984676361083984},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3935502767562866},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2921491861343384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2900059223175049},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1754847764968872},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15028169751167297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12501370906829834},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08097076416015625}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8293761014938354},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5677208304405212},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5546848177909851},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5134440660476685},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.49540388584136963},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4923206567764282},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.487533301115036},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4321277439594269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42984676361083984},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3935502767562866},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2921491861343384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2900059223175049},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1754847764968872},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15028169751167297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12501370906829834},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08097076416015625},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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:10.1080/00207721.2015.1107149","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2015.1107149","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:taf:tsysxx:v:47:y:2016:i:15:p:3619-3630","is_oa":false,"landing_page_url":"http://hdl.handle.net/10.1080/00207721.2015.1107149","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6538783652","display_name":null,"funder_award_id":"NRF-2014R1A1A2055753","funder_id":"https://openalex.org/F4320321408","funder_display_name":"Ministry of Education"}],"funders":[{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W640998348","https://openalex.org/W1892696017","https://openalex.org/W1968464152","https://openalex.org/W1968804773","https://openalex.org/W1970299051","https://openalex.org/W1971756594","https://openalex.org/W1983526786","https://openalex.org/W1983977795","https://openalex.org/W1984831821","https://openalex.org/W1986224156","https://openalex.org/W1988182293","https://openalex.org/W1996849432","https://openalex.org/W1999365297","https://openalex.org/W2025025159","https://openalex.org/W2037444456","https://openalex.org/W2049832558","https://openalex.org/W2051671655","https://openalex.org/W2062427453","https://openalex.org/W2087084782","https://openalex.org/W2090167557","https://openalex.org/W2098836156","https://openalex.org/W2102934031","https://openalex.org/W2115990616","https://openalex.org/W2117936907","https://openalex.org/W2123561292","https://openalex.org/W2128585353","https://openalex.org/W2132300288","https://openalex.org/W2137352610","https://openalex.org/W2147600827","https://openalex.org/W2155675828","https://openalex.org/W2156998846","https://openalex.org/W2158386911","https://openalex.org/W2166777045","https://openalex.org/W2166952533","https://openalex.org/W2168097327","https://openalex.org/W2169377118","https://openalex.org/W3104471247","https://openalex.org/W4210274491","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W2056271952"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,63],"theoretical":[4],"design":[5,74,83],"approach":[6],"for":[7,41,135],"output-feedback":[8,81],"formation":[9,65,138],"tracking":[10,127],"of":[11,32,45,79,129,144],"multiple":[12],"mobile":[13],"robots":[14,34,47],"under":[15,50],"wheel":[16,57,95],"perturbations.":[17],"It":[18],"is":[19,84,123],"assumed":[20],"that":[21,125],"these":[22],"perturbations":[23],"are":[24,35,48,100,155],"unknown":[25,94],"and":[26,29,54,93,107,132],"the":[27,33,46,51,70,80,87,104,108,118,136,145,151],"linear":[28],"angular":[30],"velocities":[31,44,92],"unmeasurable.":[36],"First,":[37],"adaptive":[38,105],"state":[39],"observers":[40],"estimating":[42],"unmeasurable":[43,91],"developed":[49],"robots\u2019":[52],"kinematics":[53],"dynamics":[55],"including":[56],"perturbation":[58,96],"effects.":[59,97],"Then,":[60],"we":[61],"derive":[62],"virtual-structure-based":[64],"tracker":[66],"scheme":[67],"according":[68],"to":[69,85,140],"observer":[71],"dynamic":[72],"surface":[73],"procedure.":[75],"The":[76],"main":[77],"difficulty":[78],"control":[82],"manage":[86],"coupling":[88],"problems":[89,99],"between":[90],"These":[98],"avoided":[101],"by":[102],"using":[103],"technique":[106],"function":[109],"approximation":[110],"property":[111],"based":[112],"on":[113],"fuzzy":[114],"logic":[115],"systems.":[116],"From":[117],"Lyapunov":[119],"stability":[120],"analysis,":[121],"it":[122],"shown":[124],"point":[126],"errors":[128,134],"each":[130],"robot":[131],"synchronisation":[133],"desired":[137],"converge":[139],"an":[141],"adjustable":[142],"neighbourhood":[143],"origin,":[146],"while":[147],"all":[148],"signals":[149],"in":[150],"controlled":[152],"closed-loop":[153],"system":[154],"semiglobally":[156],"uniformly":[157],"ultimately":[158],"bounded.":[159]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}