{"id":"https://openalex.org/W2291672015","doi":"https://doi.org/10.1109/cdc.2015.7402959","title":"Sliding mode control for a class of nonlinear systems with application to a wheeled mobile robot","display_name":"Sliding mode control for a class of nonlinear systems with application to a wheeled mobile robot","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291672015","doi":"https://doi.org/10.1109/cdc.2015.7402959","mag":"2291672015"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2015.7402959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","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/A5018126302","display_name":"Jianqiu Mu","orcid":null},"institutions":[{"id":"https://openalex.org/I20581793","display_name":"University of Kent","ror":"https://ror.org/00xkeyj56","country_code":"GB","type":"education","lineage":["https://openalex.org/I20581793"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jianqiu Mu","raw_affiliation_strings":["The Instrumentation, Control and Embedded Systems Research Group, University of Kent, Canterbury, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Instrumentation, Control and Embedded Systems Research Group, University of Kent, Canterbury, United Kingdom","institution_ids":["https://openalex.org/I20581793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045495633","display_name":"Xing\u2010Gang Yan","orcid":"https://orcid.org/0000-0003-2217-8398"},"institutions":[{"id":"https://openalex.org/I20581793","display_name":"University of Kent","ror":"https://ror.org/00xkeyj56","country_code":"GB","type":"education","lineage":["https://openalex.org/I20581793"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xing-Gang Yan","raw_affiliation_strings":["The Instrumentation, Control and Embedded Systems Research Group, University of Kent, Canterbury, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Instrumentation, Control and Embedded Systems Research Group, University of Kent, Canterbury, United Kingdom","institution_ids":["https://openalex.org/I20581793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100635445","display_name":"Bin Jiang","orcid":"https://orcid.org/0000-0002-9153-4360"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Jiang","raw_affiliation_strings":["The College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091844693","display_name":"Sarah K. Spurgeon","orcid":"https://orcid.org/0000-0003-3451-0650"},"institutions":[{"id":"https://openalex.org/I20581793","display_name":"University of Kent","ror":"https://ror.org/00xkeyj56","country_code":"GB","type":"education","lineage":["https://openalex.org/I20581793"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sarah K. Spurgeon","raw_affiliation_strings":["The Instrumentation, Control and Embedded Systems Research Group, University of Kent, Canterbury, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Instrumentation, Control and Embedded Systems Research Group, University of Kent, Canterbury, United Kingdom","institution_ids":["https://openalex.org/I20581793"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047094357","display_name":"Zehui Mao","orcid":"https://orcid.org/0000-0002-3189-5359"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehui Mao","raw_affiliation_strings":["The College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":null,"first_page":"4746","last_page":"4751"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983999729156494,"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":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8353012800216675},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.8181477189064026},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6939347386360168},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6647994518280029},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.6558347344398499},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5335904359817505},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5094431042671204},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.481838583946228},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.43063458800315857},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.41369712352752686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3950391411781311},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36323055624961853},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3278023600578308},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32625699043273926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2420181930065155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18014708161354065},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08508789539337158}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8353012800216675},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.8181477189064026},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6939347386360168},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6647994518280029},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.6558347344398499},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5335904359817505},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5094431042671204},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.481838583946228},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.43063458800315857},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.41369712352752686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3950391411781311},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36323055624961853},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3278023600578308},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32625699043273926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2420181930065155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18014708161354065},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08508789539337158},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2015.7402959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1517781","is_oa":false,"landing_page_url":"http://discovery.ucl.ac.uk/1517781/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In: (pp. pp. 4746-4751). (2015)","raw_type":"Proceedings paper"},{"id":"pmh:oai:kar.kent.ac.uk:60684","is_oa":false,"landing_page_url":"https://kar.kent.ac.uk/60684/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196264","display_name":"Kent Academic Repository (University of Kent)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20581793","host_organization_name":"University of Kent","host_organization_lineage":["https://openalex.org/I20581793"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book section"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1516447630","https://openalex.org/W1537842733","https://openalex.org/W1988572219","https://openalex.org/W2007724082","https://openalex.org/W2011410566","https://openalex.org/W2026288276","https://openalex.org/W2043252047","https://openalex.org/W2054034711","https://openalex.org/W2095584834","https://openalex.org/W2115990616","https://openalex.org/W2120932933","https://openalex.org/W2122561468","https://openalex.org/W2126826364","https://openalex.org/W2127516259","https://openalex.org/W2150531296","https://openalex.org/W2157671726","https://openalex.org/W2492766244","https://openalex.org/W4256152864","https://openalex.org/W4256153703"],"related_works":["https://openalex.org/W2166459078","https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2274682661","https://openalex.org/W2306349892","https://openalex.org/W897560829","https://openalex.org/W2375807149","https://openalex.org/W2786766270"],"abstract_inverted_index":{"In":[0],"this":[1,29],"paper,":[2],"a":[3,14,65,87,102],"generalised":[4,30],"regular":[5,31],"form":[6,32],"for":[7,13],"sliding":[8,25,44,61,66],"mode":[9,51],"control":[10,85],"is":[11,33,46,98,113],"proposed":[12],"class":[15],"of":[16,86,121],"nonlinear":[17,24],"systems.":[18],"A":[19],"novel":[20],"approach":[21],"to":[22,55,59,82,101],"design":[23],"surfaces":[26],"based":[27],"on":[28],"presented":[34],"using":[35],"global":[36],"implicit":[37],"function":[38],"theory":[39],"such":[40],"that":[41,108],"the":[42,57,60,77,83,109,119],"resulting":[43],"motion":[45,67],"globally":[47,114],"asymptotically":[48,115],"stable.":[49],"Sliding":[50],"controllers":[52],"are":[53,74,80],"designed":[54],"drive":[56],"system":[58,112],"surface":[62],"and":[63,71,124],"maintain":[64],"thereafter.":[68],"Both":[69],"matched":[70,123],"mismatched":[72,125],"uncertainties":[73],"considered.":[75],"Then,":[76],"developed":[78],"results":[79,106],"applied":[81],"tracking":[84,94,110],"two":[88],"wheeled":[89],"mobile":[90],"robot.":[91],"The":[92],"model-based":[93],"problem":[95],"under":[96],"study":[97],"initially":[99],"transferred":[100],"stabilization":[103],"problem.":[104],"Simulation":[105],"demonstrate":[107],"error":[111],"stable":[116],"even":[117],"in":[118],"presence":[120],"both":[122],"uncertainties.":[126]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}