{"id":"https://openalex.org/W4408399450","doi":"https://doi.org/10.1109/access.2025.3551081","title":"Design of Observer-Controller Combination for Nonholonomic Mobile Robots","display_name":"Design of Observer-Controller Combination for Nonholonomic Mobile Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408399450","doi":"https://doi.org/10.1109/access.2025.3551081"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3551081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3551081","pdf_url":null,"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://doi.org/10.1109/access.2025.3551081","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101469112","display_name":"Mingyue Cui","orcid":"https://orcid.org/0000-0002-0356-4624"},"institutions":[{"id":"https://openalex.org/I4210110718","display_name":"Nanyang Normal University","ror":"https://ror.org/01f7yer47","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210110718"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyue Cui","raw_affiliation_strings":["College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China"],"raw_orcid":"https://orcid.org/0000-0002-0356-4624","affiliations":[{"raw_affiliation_string":"College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China","institution_ids":["https://openalex.org/I4210110718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101800198","display_name":"Lei Zhou","orcid":"https://orcid.org/0000-0002-2034-7939"},"institutions":[{"id":"https://openalex.org/I4210110718","display_name":"Nanyang Normal University","ror":"https://ror.org/01f7yer47","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210110718"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhou","raw_affiliation_strings":["College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China","institution_ids":["https://openalex.org/I4210110718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109901000","display_name":"Yiyuan Cheng","orcid":"https://orcid.org/0009-0007-3697-7859"},"institutions":[{"id":"https://openalex.org/I4210110718","display_name":"Nanyang Normal University","ror":"https://ror.org/01f7yer47","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210110718"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiyuan Cheng","raw_affiliation_strings":["College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China","institution_ids":["https://openalex.org/I4210110718"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100689443","display_name":"Wei Liu","orcid":"https://orcid.org/0000-0003-2049-7176"},"institutions":[{"id":"https://openalex.org/I4210110718","display_name":"Nanyang Normal University","ror":"https://ror.org/01f7yer47","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210110718"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liu","raw_affiliation_strings":["College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Manufacturing and Electrical Engineering, Nanyang Normal University, Nanyang, Henan, China","institution_ids":["https://openalex.org/I4210110718"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210110718"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.0621,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.90941303,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"13","issue":null,"first_page":"47874","last_page":"47884"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.98089998960495,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.98089998960495,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9648000001907349,"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/mobile-robot","display_name":"Mobile robot","score":0.7640079259872437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6946881413459778},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6242111921310425},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5790849924087524},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5253376960754395},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.461472749710083},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45595553517341614},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44301745295524597},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4211893081665039},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27165740728378296},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12317478656768799},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11214566230773926}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7640079259872437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6946881413459778},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6242111921310425},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5790849924087524},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5253376960754395},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.461472749710083},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45595553517341614},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44301745295524597},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4211893081665039},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27165740728378296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12317478656768799},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11214566230773926},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"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/access.2025.3551081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3551081","pdf_url":null,"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:d6088a3cbb0842fbb55129c9d6750e96","is_oa":true,"landing_page_url":"https://doaj.org/article/d6088a3cbb0842fbb55129c9d6750e96","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 13, Pp 47874-47884 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3551081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3551081","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G3013899647","display_name":null,"funder_award_id":"202300410303","funder_id":"https://openalex.org/F4320323845","funder_display_name":"Natural Science Foundation of Henan Province"},{"id":"https://openalex.org/G4240801708","display_name":null,"funder_award_id":"2024PY012","funder_id":"https://openalex.org/F4320329173","funder_display_name":"Youth Science Foundation of Henan Normal University"},{"id":"https://openalex.org/G7548971196","display_name":null,"funder_award_id":"242300420439","funder_id":"https://openalex.org/F4320323845","funder_display_name":"Natural Science Foundation of Henan Province"}],"funders":[{"id":"https://openalex.org/F4320323845","display_name":"Natural Science Foundation of Henan Province","ror":null},{"id":"https://openalex.org/F4320329173","display_name":"Youth Science Foundation of Henan Normal University","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W43835639","https://openalex.org/W179828086","https://openalex.org/W1499913502","https://openalex.org/W1968979564","https://openalex.org/W1973945470","https://openalex.org/W1975197278","https://openalex.org/W1975948342","https://openalex.org/W1986107377","https://openalex.org/W1986302906","https://openalex.org/W1993422389","https://openalex.org/W1996293513","https://openalex.org/W2005943535","https://openalex.org/W2022891570","https://openalex.org/W2043252047","https://openalex.org/W2050086884","https://openalex.org/W2050350430","https://openalex.org/W2057583326","https://openalex.org/W2103441090","https://openalex.org/W2104929776","https://openalex.org/W2115226739","https://openalex.org/W2118043890","https://openalex.org/W2120944681","https://openalex.org/W2127988032","https://openalex.org/W2128062353","https://openalex.org/W2134442272","https://openalex.org/W2145415070","https://openalex.org/W2156833998","https://openalex.org/W2159451349","https://openalex.org/W2165491444","https://openalex.org/W2170445418","https://openalex.org/W2262334787","https://openalex.org/W2744254895","https://openalex.org/W2904612118","https://openalex.org/W2991482823","https://openalex.org/W3000505229","https://openalex.org/W3199604008","https://openalex.org/W3200384598","https://openalex.org/W3206521341","https://openalex.org/W4311175286","https://openalex.org/W4390691297","https://openalex.org/W4400724763","https://openalex.org/W4403296535","https://openalex.org/W6642962755","https://openalex.org/W6682671648","https://openalex.org/W7060877807"],"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/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2402852349"],"abstract_inverted_index":{"This":[0,40],"paper":[1],"presents":[2],"a":[3],"combined":[4],"observer-controller":[5],"for":[6],"nonholonomic":[7],"mobile":[8,103],"robots":[9],"with":[10],"the":[11,17,22,44,52,68,76,82,89,98,108,115,126],"immeasurable":[12],"direction":[13],"angle.":[14],"To":[15],"conquer":[16],"local":[18],"stability":[19],"caused":[20],"by":[21,36,58,97,114],"dynamic":[23],"feedback":[24],"linearization":[25],"method,":[26],"an":[27],"asymptotically":[28],"global":[29],"stable":[30],"velocity":[31],"control":[32,41,61,77],"law":[33],"is":[34,56,72,85,112],"proposed":[35],"employing":[37],"Lyapunov":[38,65,116],"method.":[39,80],"method":[42,71],"removes":[43],"restriction":[45],"of":[46,48,93,102,107],"dimension":[47],"nonlinear":[49],"system,":[50],"and":[51,63,91,119],"controller":[53],"design":[54,75],"process":[55],"simplified":[57],"using":[59],"virtual":[60],"inputs":[62],"derivable":[64],"function.":[66],"Furthermore,":[67],"pole":[69],"placement":[70],"designed":[73],"to":[74,87,124],"gain":[78],"scheduling":[79],"Meanwhile,":[81],"angle-error":[83],"observer":[84],"adopted":[86],"estimate":[88],"sine":[90],"cosine":[92],"orientation":[94],"angle":[95],"error":[96],"available":[99],"position":[100],"information":[101],"robot.":[104],"The":[105],"convergence":[106],"controlled":[109],"robot":[110],"system":[111],"proved":[113],"theory.":[117],"Simulation":[118],"real":[120],"experiment":[121],"are":[122],"implemented":[123],"validate":[125],"theoretical":[127],"analysis.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
