{"id":"https://openalex.org/W2131600394","doi":"https://doi.org/10.1109/cca.2005.1507356","title":"Grobal position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control","display_name":"Grobal position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control","publication_year":2005,"publication_date":"2005-09-12","ids":{"openalex":"https://openalex.org/W2131600394","doi":"https://doi.org/10.1109/cca.2005.1507356","mag":"2131600394"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2005.1507356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","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/A5103556367","display_name":"H. Nakamura","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Toshimitsu Kaji Hisakazu Nakamura","raw_affiliation_strings":["Graduate Sch. of Information Sci., Nara Inst. of Sci. & Tech"],"affiliations":[{"raw_affiliation_string":"Graduate Sch. of Information Sci., Nara Inst. of Sci. & Tech","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103556367"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.9579,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81733178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"39","issue":null,"first_page":"1569","last_page":"1574"},"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":1.0,"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":1.0,"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":0.9979000091552734,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.8973232507705688},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.7742675542831421},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6699489951133728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6385757923126221},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6236598491668701},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5875028967857361},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5822291374206543},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5197203159332275},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48316019773483276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4618273079395294},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3595525622367859},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2168954610824585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21178337931632996},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13320431113243103}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8973232507705688},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.7742675542831421},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6699489951133728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6385757923126221},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6236598491668701},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5875028967857361},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5822291374206543},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5197203159332275},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48316019773483276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4618273079395294},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3595525622367859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2168954610824585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21178337931632996},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13320431113243103},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2005.1507356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2005.1507356","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1589850338","https://openalex.org/W1967548315","https://openalex.org/W1977163885","https://openalex.org/W2033699235","https://openalex.org/W2035860158","https://openalex.org/W2044538109","https://openalex.org/W2095178535","https://openalex.org/W2109897681","https://openalex.org/W2114081607","https://openalex.org/W2120665388","https://openalex.org/W2121078404","https://openalex.org/W2136605942","https://openalex.org/W2150531296","https://openalex.org/W2150543678","https://openalex.org/W2158503284","https://openalex.org/W2324273285","https://openalex.org/W6644626094","https://openalex.org/W6677888630"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W3110580084"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,27],"the":[4,28,39],"problem":[5],"of":[6,9,41],"global":[7,17],"stabilization":[8],"a":[10,16,22,48],"two-wheeled":[11],"mobile":[12,24,51],"robot.":[13],"We":[14],"propose":[15],"exponentially":[18],"stabilizing":[19],"controller":[20,32],"for":[21,33],"two-wheel":[23],"robot":[25,52],"based":[26],"discontinuous":[29],"finite-time":[30],"homogeneous":[31],"chained":[34],"systems.":[35],"Moreover,":[36],"we":[37],"demonstrate":[38],"effectiveness":[40],"proposed":[42],"method":[43],"through":[44],"an":[45],"experiment":[46],"using":[47],"\"Khepera":[49],"2\"":[50]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-02-24T19:35:01.260952","created_date":"2016-06-24T00:00:00"}
