{"id":"https://openalex.org/W2160105858","doi":"https://doi.org/10.1109/acc.2008.4587034","title":"First-state contractive model predictive control of nonholonomic mobile robots","display_name":"First-state contractive model predictive control of nonholonomic mobile robots","publication_year":2008,"publication_date":"2008-06-01","ids":{"openalex":"https://openalex.org/W2160105858","doi":"https://doi.org/10.1109/acc.2008.4587034","mag":"2160105858"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2008.4587034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2008.4587034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 American Control Conference","raw_type":"proceedings-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/A5101690186","display_name":"Feng Xie","orcid":"https://orcid.org/0000-0002-6329-2800"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Feng Xie","raw_affiliation_strings":["School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA","institution_ids":["https://openalex.org/I115475287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101690186"],"corresponding_institution_ids":["https://openalex.org/I115475287"],"apc_list":null,"apc_paid":null,"fwci":2.4835,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.91018504,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3494","last_page":"3499"},"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":0.9994999766349792,"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":0.9994999766349792,"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":0.9945999979972839,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9919999837875366,"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/model-predictive-control","display_name":"Model predictive control","score":0.8306143879890442},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.773833155632019},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7283980846405029},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6897658109664917},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6076418161392212},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5585647225379944},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5579337477684021},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5441227555274963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5123504400253296},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.507323682308197},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.49767735600471497},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.45358800888061523},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4146729111671448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.365379273891449},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33391332626342773},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3089885115623474},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27567118406295776},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21451443433761597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11135643720626831},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08914032578468323}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8306143879890442},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.773833155632019},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7283980846405029},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6897658109664917},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6076418161392212},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5585647225379944},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5579337477684021},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5441227555274963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5123504400253296},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.507323682308197},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.49767735600471497},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.45358800888061523},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4146729111671448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.365379273891449},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33391332626342773},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3089885115623474},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27567118406295776},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21451443433761597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11135643720626831},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08914032578468323},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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:10.1109/acc.2008.4587034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2008.4587034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.636.6328","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.636.6328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ece.unm.edu/faculty/rfierro/papers/2008/fxrf-2008ACC_FCMPC.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W90274328","https://openalex.org/W1545775168","https://openalex.org/W1564897360","https://openalex.org/W1971044547","https://openalex.org/W1978956894","https://openalex.org/W1993300073","https://openalex.org/W2033699235","https://openalex.org/W2042795611","https://openalex.org/W2060422673","https://openalex.org/W2099441085","https://openalex.org/W2101576084","https://openalex.org/W2120944681","https://openalex.org/W2122561468","https://openalex.org/W2129496494","https://openalex.org/W2133066324","https://openalex.org/W2139595765","https://openalex.org/W2141429008","https://openalex.org/W2153884484","https://openalex.org/W2166136386","https://openalex.org/W2169620359","https://openalex.org/W3217246742","https://openalex.org/W4292408540","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1967307436","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"In":[0,92],"this":[1],"paper,":[2],"a":[3,67],"first-state":[4,88],"contractive":[5,68,89],"(FSC)":[6],"model":[7],"predictive":[8],"control":[9],"(MPC)":[10],"algorithm":[11,61,104,126],"is":[12,85,105,121],"developed":[13],"for":[14],"the":[15,41,48,52,55,58,71,75,78,93,102,114,117,124],"trajectory":[16],"tracking":[17,129],"and":[18,44,130],"point":[19,131],"stabilization":[20,132],"problems":[21],"of":[22,54,77,95,116],"nonholonomic":[23],"mobile":[24],"robots.":[25],"Different":[26],"from":[27],"other":[28],"stabilizing":[29],"MPC":[30,60,83,90],"methods,":[31],"which":[32],"address":[33],"stability":[34,64],"by":[35,65],"adding":[36,66],"terminal":[37,49],"state":[38,50,73],"penalties":[39],"in":[40],"performance":[42],"index":[43],"imposing":[45],"constraints":[46],"on":[47,70],"at":[51,74],"end":[53],"prediction":[56,79],"horizon,":[57],"proposed":[59,103],"guarantees":[62],"its":[63],"constraint":[69],"first":[72],"beginning":[76],"horizon.":[80],"The":[81],"resulting":[82],"scheme":[84],"denoted":[86],"as":[87],"(FSC-MPC).":[91],"absence":[94],"disturbances,":[96],"it":[97,120],"can":[98],"be":[99],"shown":[100,122],"that":[101,123],"exponentially":[106],"stable.":[107],"Simulation":[108],"results":[109],"are":[110],"provided":[111],"to":[112],"verify":[113],"effectiveness":[115],"method.":[118],"Moreover,":[119],"FSC-MPC":[125],"has":[127],"simultaneous":[128],"capability.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}