{"id":"https://openalex.org/W2137981430","doi":"https://doi.org/10.1109/cca.2009.5280990","title":"On linear and nonlinear tracking of the wheeled mobile robot","display_name":"On linear and nonlinear tracking of the wheeled mobile robot","publication_year":2009,"publication_date":"2009-07-01","ids":{"openalex":"https://openalex.org/W2137981430","doi":"https://doi.org/10.1109/cca.2009.5280990","mag":"2137981430"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2009.5280990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","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/A5021088875","display_name":"Elvira Rafikova","orcid":"https://orcid.org/0000-0002-9802-5446"},"institutions":[{"id":"https://openalex.org/I181391015","display_name":"Universidade Estadual de Campinas (UNICAMP)","ror":"https://ror.org/04wffgt70","country_code":"BR","type":"education","lineage":["https://openalex.org/I181391015"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"E. Rafikova","raw_affiliation_strings":["UNICAMP-State University of Campinas, Brazil"],"affiliations":[{"raw_affiliation_string":"UNICAMP-State University of Campinas, Brazil","institution_ids":["https://openalex.org/I181391015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078493542","display_name":"Paulo Roberto Gardel Kurka","orcid":"https://orcid.org/0000-0002-9673-2913"},"institutions":[{"id":"https://openalex.org/I181391015","display_name":"Universidade Estadual de Campinas (UNICAMP)","ror":"https://ror.org/04wffgt70","country_code":"BR","type":"education","lineage":["https://openalex.org/I181391015"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"P.R.G. Kurka","raw_affiliation_strings":["UNICAMP-State University of Campinas, Brazil"],"affiliations":[{"raw_affiliation_string":"UNICAMP-State University of Campinas, Brazil","institution_ids":["https://openalex.org/I181391015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005445685","display_name":"\u0424\u0435\u0440\u043d\u0430\u043d\u0434\u043e \u041b\u043e\u0431\u043e \u041f\u0435\u0440\u0435\u0439\u0440\u0430","orcid":"https://orcid.org/0000-0002-9602-2452"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"F.L. Pereira","raw_affiliation_strings":["University of Porto, Portugal","University of Porto , Portugal"],"affiliations":[{"raw_affiliation_string":"University of Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"University of Porto , Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017756628","display_name":"Marat Rafikov","orcid":"https://orcid.org/0000-0002-3259-7871"},"institutions":[{"id":"https://openalex.org/I71715416","display_name":"Universidade Federal do ABC","ror":"https://ror.org/028kg9j04","country_code":"BR","type":"education","lineage":["https://openalex.org/I71715416"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"M. Rafikov","raw_affiliation_strings":["UFABC- Federal University of ABC, Santo Andr\u00e9, S\u00e3o Paulo, Brazil","UFABC, Federal University of ABC Santo Andr\u00e9, S\u00e3o Paulo, BRAZIL"],"affiliations":[{"raw_affiliation_string":"UFABC- Federal University of ABC, Santo Andr\u00e9, S\u00e3o Paulo, Brazil","institution_ids":["https://openalex.org/I71715416"]},{"raw_affiliation_string":"UFABC, Federal University of ABC Santo Andr\u00e9, S\u00e3o Paulo, BRAZIL","institution_ids":["https://openalex.org/I71715416"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021088875"],"corresponding_institution_ids":["https://openalex.org/I181391015"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.11856769,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1306","last_page":"1311"},"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":0.9962000250816345,"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":0.9901999831199646,"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":0.8104302883148193},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7302130460739136},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6950525045394897},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6274408102035522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5767431259155273},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5540105104446411},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5426537990570068},{"id":"https://openalex.org/keywords/riccati-equation","display_name":"Riccati equation","score":0.5249148011207581},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45503920316696167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4484744071960449},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44143784046173096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25269514322280884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2294711470603943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1753796935081482},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.07465001940727234}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8104302883148193},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7302130460739136},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6950525045394897},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6274408102035522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5767431259155273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5540105104446411},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5426537990570068},{"id":"https://openalex.org/C45473103","wikidata":"https://www.wikidata.org/wiki/Q851503","display_name":"Riccati equation","level":3,"score":0.5249148011207581},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45503920316696167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4484744071960449},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44143784046173096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25269514322280884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2294711470603943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1753796935081482},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.07465001940727234},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2009.5280990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W43835639","https://openalex.org/W1498792794","https://openalex.org/W1971044547","https://openalex.org/W2001494170","https://openalex.org/W2009127079","https://openalex.org/W2010269338","https://openalex.org/W2018533902","https://openalex.org/W2035838143","https://openalex.org/W2042994047","https://openalex.org/W2048225205","https://openalex.org/W2050439892","https://openalex.org/W2063181764","https://openalex.org/W2078162893","https://openalex.org/W2089592749","https://openalex.org/W2100374022","https://openalex.org/W2100621899","https://openalex.org/W2102620728","https://openalex.org/W2120944681","https://openalex.org/W2133361850","https://openalex.org/W2133661758","https://openalex.org/W2145603600","https://openalex.org/W2158564182","https://openalex.org/W2162091558","https://openalex.org/W2163855442","https://openalex.org/W2271938020","https://openalex.org/W4251794413","https://openalex.org/W6601769650","https://openalex.org/W6642962755","https://openalex.org/W6661243120"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2,16],"two":[3],"different":[4],"trajectory":[5],"tracking":[6],"control":[7,21,48],"strategies":[8],"for":[9,47],"wheeled":[10],"mobile":[11],"robot.":[12],"The":[13],"first":[14],"strategy":[15,26],"a":[17],"time-varying":[18],"linear":[19],"feedback":[20],"law":[22],"and":[23],"the":[24,50],"second":[25],"is":[27],"based":[28],"on":[29],"state":[30],"dependent":[31],"Ricatti":[32],"equation":[33],"(SDRE)":[34],"method.":[35],"Numerical":[36],"simulation":[37],"results":[38],"indicated":[39],"that":[40],"both":[41],"methods":[42],"can":[43],"be":[44],"successfully":[45],"used":[46],"of":[49],"robot":[51],"system.":[52]},"counts_by_year":[{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}