{"id":"https://openalex.org/W3040823376","doi":"https://doi.org/10.1109/access.2020.3007881","title":"Enhanced Bioinspired Backstepping Control for a Mobile Robot With Unscented Kalman Filter","display_name":"Enhanced Bioinspired Backstepping Control for a Mobile Robot With Unscented Kalman Filter","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3040823376","doi":"https://doi.org/10.1109/access.2020.3007881","mag":"3040823376"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3007881","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3007881","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09136718.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09136718.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012024695","display_name":"Zhe Xu","orcid":"https://orcid.org/0000-0001-7227-640X"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhe Xu","raw_affiliation_strings":["School of Engineering, University of Guelph, Guelph, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7227-640X","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Simon X. Yang","raw_affiliation_strings":["School of Engineering, University of Guelph, Guelph, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6888-7993","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070963003","display_name":"S. Andrew Gadsden","orcid":"https://orcid.org/0000-0003-3749-0878"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Andrew Gadsden","raw_affiliation_strings":["School of Engineering, University of Guelph, Guelph, Canada"],"raw_orcid":"https://orcid.org/0000-0003-3749-0878","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79817857"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.9154,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":{"value":0.90966889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"125899","last_page":"125908"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9908999800682068,"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/backstepping","display_name":"Backstepping","score":0.9056434631347656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8293124437332153},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6128745675086975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5513932704925537},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5483707189559937},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5427636504173279},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4620574712753296},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46173155307769775},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42768967151641846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35515284538269043},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2902013659477234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24860399961471558},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1779516041278839},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.1733553409576416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12332487106323242}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9056434631347656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8293124437332153},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6128745675086975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5513932704925537},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5483707189559937},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5427636504173279},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4620574712753296},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46173155307769775},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42768967151641846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35515284538269043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2902013659477234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24860399961471558},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1779516041278839},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.1733553409576416},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12332487106323242},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2020.3007881","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3007881","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09136718.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:4a11c9176e224f63bf179e4cfdb9b007","is_oa":true,"landing_page_url":"https://doaj.org/article/4a11c9176e224f63bf179e4cfdb9b007","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 125899-125908 (2020)","raw_type":"article"},{"id":"pmh:oai:macsphere.mcmaster.ca:11375/31104","is_oa":false,"landing_page_url":"http://hdl.handle.net/11375/31104","pdf_url":null,"source":{"id":"https://openalex.org/S4306402139","display_name":"MacSphere (McMaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98251732","host_organization_name":"McMaster University","host_organization_lineage":["https://openalex.org/I98251732"],"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":{"id":"doi:10.1109/access.2020.3007881","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3007881","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09136718.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.550000011920929,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310921","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3040823376.pdf","grobid_xml":"https://content.openalex.org/works/W3040823376.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W866612865","https://openalex.org/W1749494163","https://openalex.org/W1973126591","https://openalex.org/W1979659209","https://openalex.org/W1994597642","https://openalex.org/W2001471851","https://openalex.org/W2021031092","https://openalex.org/W2044341605","https://openalex.org/W2044949985","https://openalex.org/W2050679095","https://openalex.org/W2060827639","https://openalex.org/W2083639296","https://openalex.org/W2101343911","https://openalex.org/W2130535256","https://openalex.org/W2150531296","https://openalex.org/W2293658407","https://openalex.org/W2336820608","https://openalex.org/W2484425816","https://openalex.org/W2577847632","https://openalex.org/W2758253288","https://openalex.org/W2777246076","https://openalex.org/W2794807962","https://openalex.org/W2892592563","https://openalex.org/W2911876139","https://openalex.org/W2913380666","https://openalex.org/W2915417451","https://openalex.org/W2926228387","https://openalex.org/W2989333227","https://openalex.org/W2991482823","https://openalex.org/W2996276911","https://openalex.org/W3003570764","https://openalex.org/W3011087738"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W2132535444","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W1577182676"],"abstract_inverted_index":{"Tracking":[0],"control":[1,52,97,112,140,163,184],"has":[2],"been":[3],"an":[4,41],"important":[5,42],"research":[6],"topic":[7],"in":[8,32,94,178],"robotics.":[9],"It":[10],"is":[11,40,142,186],"critical":[12],"to":[13,143],"design":[14],"controllers":[15],"that":[16,54,92,160,176],"make":[17],"robotic":[18,30],"systems":[19],"with":[20,65,195],"smooth":[21,100],"velocity":[22,88,101,172],"commands.":[23,102],"In":[24],"addition,":[25],"the":[26,29,33,87,110,136,145,155,161],"robustness":[27],"of":[28,35,83,105,115,124,135],"system":[31,36,146,196],"presence":[34],"and":[37,61,70,78,85,90,98,107,122,147,150,169,174,197],"measurement":[38,148,198],"noises":[39,149],"consideration":[43],"as":[44],"well.":[45],"This":[46,182],"paper":[47],"presents":[48],"a":[49,56,62],"novel":[50],"tracking":[51,125,139,183],"strategy":[53,113,141,164,185],"integrates":[55],"biologically":[57],"inspired":[58],"backstepping":[59,76,96,180],"controller":[60,64,77,80],"torque":[63,79],"unscented":[66],"Kalman":[67,71],"filter":[68,72],"(UKF)":[69],"(KF).":[73],"The":[74,103,120,133,157],"bioinspired":[75,138],"are":[81,127],"capable":[82,114],"avoiding":[84],"reducing":[86],"jumps":[89,173],"overshoots":[91],"occur":[93],"conventional":[95,179],"provide":[99],"integration":[104],"KF":[106],"UKF":[108],"enables":[109],"proposed":[111,137,162],"providing":[116],"accurate":[117,166],"state":[118,167],"estimates.":[119],"stability":[121,131],"convergence":[123],"errors":[126],"guaranteed":[128],"by":[129],"Lyapunov":[130],"analysis.":[132],"novelty":[134],"take":[144],"robot":[151],"dynamic":[152],"constraints":[153],"into":[154],"consideration.":[156],"results":[158],"show":[159],"provides":[165],"estimates":[168],"avoids":[170],"large":[171],"overshoot":[175],"occurs":[177],"control.":[181],"suitable":[187],"for":[188],"autonomous":[189],"mobile":[190],"robots":[191],"under":[192],"hard":[193],"conditions":[194],"noises.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2020-07-16T00:00:00"}