{"id":"https://openalex.org/W2160729745","doi":"https://doi.org/10.1109/cdc.2007.4434811","title":"Asymptotic stability of nonholonomic mobile robot formations using multilayer neural networks","display_name":"Asymptotic stability of nonholonomic mobile robot formations using multilayer neural networks","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2160729745","doi":"https://doi.org/10.1109/cdc.2007.4434811","mag":"2160729745"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","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/A5045417097","display_name":"Travis Dierks","orcid":null},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Travis Dierks","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA","institution_ids":["https://openalex.org/I20382870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078910343","display_name":"S. Jagannathan","orcid":"https://orcid.org/0000-0002-2310-3737"},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Jagannathan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA","institution_ids":["https://openalex.org/I20382870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045417097"],"corresponding_institution_ids":["https://openalex.org/I20382870"],"apc_list":null,"apc_paid":null,"fwci":0.6418,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75383526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1944","last_page":"1950"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983000159263611,"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":0.8084028959274292},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.78843092918396},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6410655975341797},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6385348439216614},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6219443678855896},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5547583103179932},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5412610769271851},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5368986129760742},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48721450567245483},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.47595807909965515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46683943271636963},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.46021759510040283},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.4419128894805908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4350106120109558},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4187001585960388},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3936517834663391},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.35155606269836426},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.34112751483917236},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2078058123588562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15410667657852173},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1005513072013855},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06770661473274231}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8084028959274292},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.78843092918396},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6410655975341797},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6385348439216614},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6219443678855896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5547583103179932},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5412610769271851},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5368986129760742},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48721450567245483},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.47595807909965515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46683943271636963},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.46021759510040283},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.4419128894805908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4350106120109558},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4187001585960388},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3936517834663391},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.35155606269836426},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.34112751483917236},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2078058123588562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15410667657852173},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1005513072013855},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06770661473274231},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2007.4434811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1517236425","https://openalex.org/W1594493880","https://openalex.org/W2069612046","https://openalex.org/W2135725062","https://openalex.org/W2169747508","https://openalex.org/W2171039484","https://openalex.org/W2492642174","https://openalex.org/W6685101799"],"related_works":["https://openalex.org/W2394227063","https://openalex.org/W2123635000","https://openalex.org/W2130946378","https://openalex.org/W3177256865","https://openalex.org/W1973298112","https://openalex.org/W2378628179","https://openalex.org/W2382713386","https://openalex.org/W2392266503","https://openalex.org/W4399145918","https://openalex.org/W2779381274"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3],"combined":[4],"kinematic/torque":[5],"control":[6,14],"law":[7],"is":[8,47,78,108],"developed":[9],"for":[10,86],"leader-follower":[11],"based":[12],"formation":[13,28,33,89],"using":[15,73,80],"backstepping":[16],"in":[17,29,39],"order":[18],"to":[19,61,101],"accommodate":[20],"the":[21,24,27,40,54,57,63,66,84,87,94],"dynamics":[22,64],"of":[23,53,56,65],"robots":[25],"and":[26,93],"contrast":[30],"with":[31,50,110],"kinematic-based":[32],"controllers":[34],"that":[35,83],"are":[36,90,97,116],"widely":[37],"reported":[38],"literature.":[41],"A":[42],"multilayer":[43],"neural":[44],"network":[45],"(NN)":[46],"introduced":[48],"along":[49],"robust":[51],"integral":[52],"sign":[55],"error":[58],"(RISE)":[59],"feedback":[60],"approximate":[62],"follower":[67],"as":[68,70,99],"well":[69],"its":[71],"leader":[72],"online":[74],"weight":[75],"tuning.":[76],"It":[77],"shown":[79],"Lyapunov":[81],"theory":[82],"errors":[85],"entire":[88],"asymptotically":[91],"stable":[92],"NN":[95,112],"weights":[96],"bounded":[98,104],"opposed":[100],"uniformly":[102],"ultimately":[103],"(UUB)":[105],"stability":[106],"which":[107],"typical":[109],"most":[111],"controllers.":[113],"Simulation":[114],"results":[115],"included.":[117]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}