{"id":"https://openalex.org/W1491981761","doi":"https://doi.org/10.1109/cdc.2003.1273069","title":"Robust control of mobile robots using the computed torque plus H\u221e compensation method","display_name":"Robust control of mobile robots using the computed torque plus H\u221e compensation method","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W1491981761","doi":"https://doi.org/10.1109/cdc.2003.1273069","mag":"1491981761"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2003.1273069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1273069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5086648677","display_name":"Mohammad Javad Yazdanpanah","orcid":"https://orcid.org/0000-0001-7098-8331"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M.J. Yazdanpanah","raw_affiliation_strings":["Department of Electrical and Computer Engineering Tehran University, Control & Intelligent Processing Center of Excellence, Tehran, Iran","Dept. of Electr. & Comput. Eng, Tehran Univ., Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering Tehran University, Control & Intelligent Processing Center of Excellence, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng, Tehran Univ., Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5097085086","display_name":"G. KarimianKhosrowshahi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G. KarimianKhosrowshahi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2920","last_page":"2925"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9984999895095825,"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":0.9940999746322632,"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/control-theory","display_name":"Control theory (sociology)","score":0.8024943470954895},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.673334538936615},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6625888347625732},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6606826782226562},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6267229318618774},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6224727630615234},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6110028028488159},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5876293182373047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.569571852684021},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5003705024719238},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.494184285402298},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4808550477027893},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38395798206329346},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36475083231925964},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3034985065460205},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2570790946483612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12977641820907593},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07027542591094971},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.05039089918136597}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8024943470954895},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.673334538936615},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6625888347625732},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6606826782226562},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6267229318618774},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6224727630615234},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6110028028488159},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5876293182373047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.569571852684021},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5003705024719238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.494184285402298},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4808550477027893},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38395798206329346},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36475083231925964},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3034985065460205},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2570790946483612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12977641820907593},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07027542591094971},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.05039089918136597},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2003.1273069","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1273069","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1487325475","https://openalex.org/W1520250425","https://openalex.org/W1538864136","https://openalex.org/W1608310098","https://openalex.org/W2042106612","https://openalex.org/W2069612046","https://openalex.org/W2102967110","https://openalex.org/W2112944867","https://openalex.org/W2114505958","https://openalex.org/W2140897625","https://openalex.org/W2150531296","https://openalex.org/W2173261491","https://openalex.org/W2540545624","https://openalex.org/W2586310851","https://openalex.org/W2922792548","https://openalex.org/W6677056387"],"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/W2372125609"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"robust":[3,71,125],"control":[4,126],"architecture":[5],"for":[6],"nonholonomic":[7],"mobile":[8],"robots.":[9],"The":[10,61],"proposed":[11,120],"technique":[12,33],"linearizes":[13],"and":[14,18,53],"decouples":[15],"the":[16,23,30,35,39,58,77,80,86,93,96,103,106,116,119],"nonlinear":[17,41,52],"coupled":[19],"dynamic":[20],"equations":[21],"of":[22,38,63,95,105,118],"robot":[24],"by":[25,85],"computed":[26,31],"torque":[27,32],"approach.":[28],"Since":[29],"requires":[34,92],"exact":[36],"knowledge":[37],"corresponding":[40],"dynamics,":[42],"therefore,":[43],"any":[44],"mismatch":[45],"in":[46,57,76],"this":[47],"regard":[48],"may":[49,66],"leave":[50],"some":[51],"also":[54],"uncertain":[55,97],"parts":[56,65],"resulting":[59],"system.":[60],"effect":[62],"mentioned":[64],"be":[67],"compensated":[68,84],"via":[69],"a":[70,74],"controller.":[72],"As":[73],"result,":[75],"present":[78],"work,":[79],"remaining":[81],"uncertainty":[82,108],"is":[83,100],"H/sub":[87,121],"/spl":[88,122],"infin//":[89,123],"technique,":[90],"which":[91],"boundedness":[94],"part.":[98],"It":[99],"shown":[101],"that":[102],"elements":[104],"said":[107],"are":[109],"L/sub":[110],"2/":[111],"-bounded.":[112],"Numerical":[113],"simulations":[114],"demonstrate":[115],"effectiveness":[117],"based":[124],"scheme.":[127]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
