{"id":"https://openalex.org/W3010818633","doi":"https://doi.org/10.1109/cdc40024.2019.9029669","title":"On Active Disturbance Rejection Based Path Following Control for Unmanned Roller","display_name":"On Active Disturbance Rejection Based Path Following Control for Unmanned Roller","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3010818633","doi":"https://doi.org/10.1109/cdc40024.2019.9029669","mag":"3010818633"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th 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/A5100658274","display_name":"Sen Chen","orcid":"https://orcid.org/0000-0001-6813-4003"},"institutions":[{"id":"https://openalex.org/I94310126","display_name":"Shanxi Normal University","ror":"https://ror.org/03zd3ta61","country_code":"CN","type":"education","lineage":["https://openalex.org/I94310126"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sen Chen","raw_affiliation_strings":["School of Mathematics and Information Science, Shanxi Normal University, Xi\u2019an, P. R. China","School of Mathematics and Information Science, Shanxi Normal University, Xi'an, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematics and Information Science, Shanxi Normal University, Xi\u2019an, P. R. China","institution_ids":["https://openalex.org/I94310126"]},{"raw_affiliation_string":"School of Mathematics and Information Science, Shanxi Normal University, Xi'an, P. R. China","institution_ids":["https://openalex.org/I94310126"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053217175","display_name":"Kang Song","orcid":"https://orcid.org/0000-0002-7548-2214"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Song","raw_affiliation_strings":["State Key Laboratory of Engines, Tianjin University, Tianjin, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Engines, Tianjin University, Tianjin, P. R. China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067614281","display_name":"Longtong Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longtong Zhao","raw_affiliation_strings":["State Key Laboratory of Engines, Tianjin University, Tianjin, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Engines, Tianjin University, Tianjin, P. R. China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049193102","display_name":"Wenchao Xue","orcid":"https://orcid.org/0000-0003-0637-9413"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenchao Xue","raw_affiliation_strings":["Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, P. R. China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046230637","display_name":"Hui Xie","orcid":"https://orcid.org/0000-0003-0164-3940"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Xie","raw_affiliation_strings":["State Key Laboratory of Engines, Tianjin University, Tianjin, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Engines, Tianjin University, Tianjin, P. R. China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100769284","display_name":"Yi Huang","orcid":"https://orcid.org/0000-0002-0607-8357"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Huang","raw_affiliation_strings":["Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, P. R. China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7549,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85487558,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"53","issue":null,"first_page":"4791","last_page":"4796"},"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":0.9991999864578247,"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":0.9991999864578247,"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":0.9991000294685364,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8911855220794678},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7744481563568115},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6825286746025085},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5876253843307495},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.558138370513916},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47843578457832336},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.4548836052417755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44313251972198486},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.41269540786743164},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3888709545135498},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3699130415916443},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.33734720945358276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2083975374698639},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.1324312388896942},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11513084173202515}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8911855220794678},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7744481563568115},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6825286746025085},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5876253843307495},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.558138370513916},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47843578457832336},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.4548836052417755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44313251972198486},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.41269540786743164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3888709545135498},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3699130415916443},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.33734720945358276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2083975374698639},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.1324312388896942},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11513084173202515},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","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":28,"referenced_works":["https://openalex.org/W182025308","https://openalex.org/W1534826615","https://openalex.org/W1974597000","https://openalex.org/W2012137972","https://openalex.org/W2020294532","https://openalex.org/W2026037988","https://openalex.org/W2036449758","https://openalex.org/W2054162134","https://openalex.org/W2057140161","https://openalex.org/W2086767939","https://openalex.org/W2100127529","https://openalex.org/W2132411721","https://openalex.org/W2133788307","https://openalex.org/W2135493101","https://openalex.org/W2160729924","https://openalex.org/W2163114046","https://openalex.org/W2167808181","https://openalex.org/W2200186993","https://openalex.org/W2263328122","https://openalex.org/W2599535384","https://openalex.org/W2766633180","https://openalex.org/W2794285360","https://openalex.org/W2808109434","https://openalex.org/W2906221362","https://openalex.org/W2909822156","https://openalex.org/W2971435641","https://openalex.org/W6632009221","https://openalex.org/W6679638328"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2364627073","https://openalex.org/W4210729524","https://openalex.org/W2991240131","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W2953358686","https://openalex.org/W2294659156","https://openalex.org/W2353427523"],"abstract_inverted_index":{"This":[0],"paper":[1,59],"considers":[2],"the":[3,9,23,27,37,55,61,68,73,84,96,111,123,131,134,142,152,157,169,173,176,182],"path":[4,31,62,115],"following":[5,32,63,116],"control":[6,28,56,64],"problem":[7],"for":[8,30,77],"unmanned":[10,34,78],"roller":[11,35],"which":[12,45],"is":[13,36,81,128,138,149,179],"constituted":[14],"of":[15,33,133,175],"front":[16,41],"body":[17],"and":[18,42,51,72,95,121,146,164],"rear":[19,43],"body.":[20],"Compared":[21],"with":[22,67],"conventional":[24],"passenger":[25],"vehicles,":[26],"input":[29,88],"articulated":[38],"angle":[39],"between":[40],"bodies,":[44],"leads":[46],"to":[47,92,119],"higher":[48],"order":[49],"dynamics":[50,102,145],"stronger":[52],"nonlinearity":[53],"in":[54,126,160],"system.":[57],"The":[58],"builds":[60],"system":[65,137],"model":[66],"cross-track":[69,153],"error":[70,75,154],"subsystem":[71,76,86,98],"orientation":[74],"roller.":[79],"It":[80,148],"shown":[82,150,180],"that":[83,151],"first":[85],"has":[87,99],"saturation":[89],"term":[90],"due":[91],"sinusoidal":[93],"function,":[94],"second":[97],"nonlinear":[100,144],"uncertain":[101],"as":[103,105],"well":[104],"disturbances.":[106,147],"By":[107],"using":[108],"backstepping":[109],"scheme,":[110],"active":[112],"disturbance":[113],"rejection":[114],"controller,":[117],"aiming":[118],"estimating":[120],"cancelling":[122],"\"total":[124],"disturbance\"":[125],"system,":[127],"proposed.":[129],"Moreover,":[130],"stability":[132],"resulting":[135],"closed-loop":[136],"rigorously":[139],"analyzed":[140],"despite":[141],"saturation,":[143],"can":[155],"achieve":[156],"desired":[158],"performance":[159],"both":[161],"transient":[162],"process":[163],"steady-state":[165],"phase":[166],"by":[167,181],"tuning":[168],"controller's":[170],"parameters.":[171],"Also,":[172],"effectiveness":[174],"proposed":[177],"solution":[178],"simulation":[183],"results.":[184]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}