{"id":"https://openalex.org/W2946031403","doi":"https://doi.org/10.1093/imamci/dnz016","title":"Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation","display_name":"Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation","publication_year":2019,"publication_date":"2019-04-11","ids":{"openalex":"https://openalex.org/W2946031403","doi":"https://doi.org/10.1093/imamci/dnz016","mag":"2946031403"},"language":"en","primary_location":{"id":"doi:10.1093/imamci/dnz016","is_oa":false,"landing_page_url":"https://doi.org/10.1093/imamci/dnz016","pdf_url":null,"source":{"id":"https://openalex.org/S162756791","display_name":"IMA Journal of Mathematical Control and Information","issn_l":"0265-0754","issn":["0265-0754","1471-6887"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311648","host_organization_name":"Oxford University Press","host_organization_lineage":["https://openalex.org/P4310311648","https://openalex.org/P4310311647"],"host_organization_lineage_names":["Oxford University Press","University of Oxford"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IMA Journal of Mathematical Control and Information","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11336/148727","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065815764","display_name":"Gustavo Scaglia","orcid":"https://orcid.org/0000-0002-0188-0017"},"institutions":[{"id":"https://openalex.org/I4210097719","display_name":"National Council for Scientific Research","ror":"https://ror.org/00x9ewr78","country_code":"LB","type":"funder","lineage":["https://openalex.org/I4210097719"]},{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]},{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"funder","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR","LB"],"is_corresponding":false,"raw_author_name":"G J E Scaglia","raw_affiliation_strings":["Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine"],"affiliations":[{"raw_affiliation_string":"Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","institution_ids":[]},{"raw_affiliation_string":"National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine","institution_ids":["https://openalex.org/I39553462","https://openalex.org/I151201029","https://openalex.org/I4210097719"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008755580","display_name":"Mario Emanuel Serrano","orcid":"https://orcid.org/0000-0002-8994-7449"},"institutions":[{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"funder","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]},{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]},{"id":"https://openalex.org/I4210097719","display_name":"National Council for Scientific Research","ror":"https://ror.org/00x9ewr78","country_code":"LB","type":"funder","lineage":["https://openalex.org/I4210097719"]}],"countries":["AR","LB"],"is_corresponding":true,"raw_author_name":"M E Serrano","raw_affiliation_strings":["Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine"],"affiliations":[{"raw_affiliation_string":"Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","institution_ids":[]},{"raw_affiliation_string":"National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine","institution_ids":["https://openalex.org/I39553462","https://openalex.org/I151201029","https://openalex.org/I4210097719"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007493762","display_name":"Sebastian Alejandro Godoy","orcid":"https://orcid.org/0000-0002-5942-3994"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]},{"id":"https://openalex.org/I4210097719","display_name":"National Council for Scientific Research","ror":"https://ror.org/00x9ewr78","country_code":"LB","type":"funder","lineage":["https://openalex.org/I4210097719"]},{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"funder","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR","LB"],"is_corresponding":false,"raw_author_name":"S A Godoy","raw_affiliation_strings":["Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine"],"affiliations":[{"raw_affiliation_string":"Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","institution_ids":[]},{"raw_affiliation_string":"National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine","institution_ids":["https://openalex.org/I39553462","https://openalex.org/I151201029","https://openalex.org/I4210097719"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084600626","display_name":"Francisco Rossomando","orcid":"https://orcid.org/0000-0002-7792-8101"},"institutions":[{"id":"https://openalex.org/I151201029","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59","country_code":"AR","type":"funder","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]},{"id":"https://openalex.org/I4210097719","display_name":"National Council for Scientific Research","ror":"https://ror.org/00x9ewr78","country_code":"LB","type":"funder","lineage":["https://openalex.org/I4210097719"]},{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR","LB"],"is_corresponding":false,"raw_author_name":"F Rossomando","raw_affiliation_strings":["Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine"],"affiliations":[{"raw_affiliation_string":"Av. Libertador San Mart\u00edn Oeste 1109, San Juan J5400ARL, Argentina","institution_ids":[]},{"raw_affiliation_string":"National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine","institution_ids":["https://openalex.org/I39553462","https://openalex.org/I151201029","https://openalex.org/I4210097719"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008755580"],"corresponding_institution_ids":["https://openalex.org/I151201029","https://openalex.org/I39553462","https://openalex.org/I4210097719"],"apc_list":{"value":2582,"currency":"GBP","value_usd":3167},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.0417073,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"37","issue":"2","first_page":"607","last_page":"624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983999729156494,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983999729156494,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9983000159263611,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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/trajectory","display_name":"Trajectory","score":0.7890214920043945},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7218219041824341},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.704004168510437},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6693266034126282},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6314181089401245},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6217871904373169},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6206424832344055},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6177247762680054},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.6069485545158386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48451560735702515},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3497326970100403},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29122471809387207},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.229692280292511},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20581308007240295},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06392303109169006}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7890214920043945},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7218219041824341},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.704004168510437},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6693266034126282},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6314181089401245},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6217871904373169},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6206424832344055},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6177247762680054},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.6069485545158386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48451560735702515},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3497326970100403},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29122471809387207},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.229692280292511},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20581308007240295},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06392303109169006},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1093/imamci/dnz016","is_oa":false,"landing_page_url":"https://doi.org/10.1093/imamci/dnz016","pdf_url":null,"source":{"id":"https://openalex.org/S162756791","display_name":"IMA Journal of Mathematical Control and Information","issn_l":"0265-0754","issn":["0265-0754","1471-6887"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311648","host_organization_name":"Oxford University Press","host_organization_lineage":["https://openalex.org/P4310311648","https://openalex.org/P4310311647"],"host_organization_lineage_names":["Oxford University Press","University of Oxford"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IMA Journal of Mathematical Control and Information","raw_type":"journal-article"},{"id":"pmh:oai:ri.conicet.gov.ar:11336/148727","is_oa":true,"landing_page_url":"http://hdl.handle.net/11336/148727","pdf_url":null,"source":{"id":"https://openalex.org/S4306401400","display_name":"Conicet","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210104196","host_organization_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Nordeste","host_organization_lineage":["https://openalex.org/I4210104196"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:ri.conicet.gov.ar:11336/148727","is_oa":true,"landing_page_url":"http://hdl.handle.net/11336/148727","pdf_url":null,"source":{"id":"https://openalex.org/S4306401400","display_name":"Conicet","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210104196","host_organization_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Nordeste","host_organization_lineage":["https://openalex.org/I4210104196"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321594","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W139146981","https://openalex.org/W170235996","https://openalex.org/W1795163110","https://openalex.org/W1967199722","https://openalex.org/W1978300656","https://openalex.org/W1978956894","https://openalex.org/W1989129674","https://openalex.org/W2001490061","https://openalex.org/W2003248131","https://openalex.org/W2010337487","https://openalex.org/W2012482373","https://openalex.org/W2014834786","https://openalex.org/W2021867373","https://openalex.org/W2023218087","https://openalex.org/W2027535078","https://openalex.org/W2034828656","https://openalex.org/W2043252047","https://openalex.org/W2045507815","https://openalex.org/W2050673413","https://openalex.org/W2060277269","https://openalex.org/W2066784786","https://openalex.org/W2067148590","https://openalex.org/W2093535548","https://openalex.org/W2110703708","https://openalex.org/W2122512809","https://openalex.org/W2138133265","https://openalex.org/W2141429008","https://openalex.org/W2149056111","https://openalex.org/W2149993368","https://openalex.org/W2157851304","https://openalex.org/W2158204010","https://openalex.org/W2159143517","https://openalex.org/W2161532993","https://openalex.org/W2166184893","https://openalex.org/W2169082695","https://openalex.org/W2170304637","https://openalex.org/W2170718987","https://openalex.org/W2171369888","https://openalex.org/W2214803354","https://openalex.org/W2316649349","https://openalex.org/W2324509859","https://openalex.org/W2506863348","https://openalex.org/W2606756308","https://openalex.org/W2770467689","https://openalex.org/W3152228508","https://openalex.org/W4205951204","https://openalex.org/W4237974662","https://openalex.org/W6680758824","https://openalex.org/W6683462653","https://openalex.org/W6685083143"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W1996877595","https://openalex.org/W2026490863","https://openalex.org/W2161688277","https://openalex.org/W2366743900"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"addresses":[3],"trajectory":[4],"tracking":[5,59,91],"problem":[6],"in":[7,33,89],"mobile":[8],"robots":[9],"considering":[10],"additive":[11,87],"uncertainties.":[12],"The":[13,37,63,73],"controller":[14,38,74],"design":[15],"method":[16],"is":[17,39,61],"based":[18],"on":[19],"linear":[20],"algebra":[21],"theory.":[22],"Numerical":[23],"estimation":[24],"techniques":[25],"are":[26,66],"used":[27,81],"to":[28,55,82],"estimate":[29],"the":[30,45,51,58,84,90],"uncertainty":[31],"value":[32],"each":[34],"sample":[35],"time.":[36],"calibrated":[40],"by":[41,68],"stochastic":[42],"way":[43],"using":[44],"Monte":[46],"Carlo":[47],"Experiment.":[48],"In":[49],"addition,":[50],"proof":[52],"of":[53,57,86],"convergence":[54],"zero":[56],"error":[60],"included.":[62],"theoretical":[64],"results":[65],"validated":[67],"simulation":[69],"and":[70],"experimental":[71],"tests.":[72],"proposed":[75],"shows":[76],"that":[77],"it":[78],"can":[79],"be":[80],"reduce":[83],"effect":[85],"uncertainties":[88],"error.":[92]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
