{"id":"https://openalex.org/W2069289792","doi":"https://doi.org/10.1109/coginf.2007.4341918","title":"Unified Model and Robust Neural-Network Control of Omnidirectional Mobile Manipulators","display_name":"Unified Model and Robust Neural-Network Control of Omnidirectional Mobile Manipulators","publication_year":2007,"publication_date":"2007-08-01","ids":{"openalex":"https://openalex.org/W2069289792","doi":"https://doi.org/10.1109/coginf.2007.4341918","mag":"2069289792"},"language":"en","primary_location":{"id":"doi:10.1109/coginf.2007.4341918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coginf.2007.4341918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"6th IEEE International Conference on Cognitive Informatics","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/A5102065770","display_name":"Xiangmin Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang-min Tan","raw_affiliation_strings":["Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","[Chinese Acad. of Sci, Beijing]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"[Chinese Acad. of Sci, Beijing]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100624298","display_name":"Dongbin Zhao","orcid":"https://orcid.org/0000-0001-8218-9633"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongbin Zhao","raw_affiliation_strings":["Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","[Chinese Acad. of Sci, Beijing]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"[Chinese Acad. of Sci, Beijing]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019541846","display_name":"Jianqiang Yi","orcid":"https://orcid.org/0000-0003-3268-9482"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Yi","raw_affiliation_strings":["Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","[Chinese Acad. of Sci, Beijing]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"[Chinese Acad. of Sci, Beijing]","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109333020","display_name":"Zeng\u2010Guang Hou","orcid":"https://orcid.org/0000-0002-1534-5840"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeng-Guang Hou","raw_affiliation_strings":["Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","[Chinese Acad. of Sci, Beijing]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"[Chinese Acad. of Sci, Beijing]","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102083675","display_name":"Dong Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Xu","raw_affiliation_strings":["Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","[Chinese Acad. of Sci, Beijing]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Complex Systems and intelligence science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"[Chinese Acad. of Sci, Beijing]","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.5721,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.58892356,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"33","issue":null,"first_page":"411","last_page":"418"},"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":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/holonomic","display_name":"Holonomic","score":0.8085470199584961},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6787121891975403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6521844863891602},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6078250408172607},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.5942737460136414},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4933549463748932},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48973751068115234},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48776084184646606},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.47646570205688477},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4628737270832062},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4326021671295166},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2539806067943573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24020621180534363},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2231711447238922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21606513857841492}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8085470199584961},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6787121891975403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6521844863891602},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6078250408172607},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.5942737460136414},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4933549463748932},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48973751068115234},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48776084184646606},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.47646570205688477},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4628737270832062},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4326021671295166},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2539806067943573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24020621180534363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2231711447238922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21606513857841492},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coginf.2007.4341918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coginf.2007.4341918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"6th IEEE International Conference on Cognitive Informatics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1925067478","https://openalex.org/W1975799078","https://openalex.org/W2036288719","https://openalex.org/W2073924944","https://openalex.org/W2087998189","https://openalex.org/W2094839673","https://openalex.org/W2100028632","https://openalex.org/W2112474089","https://openalex.org/W2121478978","https://openalex.org/W2122103564","https://openalex.org/W2128476025","https://openalex.org/W2132006755","https://openalex.org/W2134893614","https://openalex.org/W2147907358","https://openalex.org/W2149012351","https://openalex.org/W2166783325","https://openalex.org/W2565210018","https://openalex.org/W4232696411","https://openalex.org/W4235770523","https://openalex.org/W6678234496","https://openalex.org/W6679292730","https://openalex.org/W6681482071"],"related_works":["https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W71119328","https://openalex.org/W2281200235","https://openalex.org/W2577491335","https://openalex.org/W2069596755","https://openalex.org/W2045978853","https://openalex.org/W2166825355","https://openalex.org/W4398198385","https://openalex.org/W84202494"],"abstract_inverted_index":{"As":[0],"a":[1,40,53,68,111,115],"typical":[2],"holonomic":[3],"mechanical":[4],"system,":[5],"the":[6,24,28,65,104,108,123,132,135,139,142],"omnidirectional":[7,29],"mobile":[8,30,96],"manipulator,":[9],"due":[10],"to":[11],"its":[12,47],"large-scale":[13],"mobility":[14],"and":[15,36,78,107,127,138],"dexterous":[16],"manipulability,":[17],"has":[18],"attracted":[19],"lots":[20],"of":[21,38,46,64,125,134,141],"attention":[22],"in":[23],"last":[25],"decades.":[26],"While":[27],"manipulator":[31],"provides":[32],"many":[33],"advantages,":[34],"modeling":[35],"control":[37,75,93,143],"such":[39],"system":[41],"are":[42],"very":[43],"challenging":[44],"because":[45],"complicated":[48],"mechanism.":[49],"In":[50,62],"this":[51],"paper,":[52],"unified":[54],"dynamic":[55],"model":[56,137],"is":[57,84,89,117],"developed":[58],"by":[59],"Lagrangian":[60],"formalism.":[61],"terms":[63],"proposed":[66,120,136],"model,":[67],"tracking":[69],"controller,":[70],"based":[71],"on":[72],"computed":[73],"torque":[74],"(CTC)":[76],"method":[77],"radial":[79],"basis":[80],"function":[81],"neural-network":[82],"(RBFNN),":[83],"presented":[85],"subsequently.":[86],"Although":[87],"CTC":[88,126],"an":[90],"effective":[91],"motion":[92],"strategy":[94],"for":[95],"manipulators,":[97],"it":[98],"requires":[99],"precise":[100],"models.":[101],"To":[102],"handle":[103],"unmodeled":[105],"dynamics":[106],"external":[109],"disturbance,":[110],"RBFNN,":[112],"serving":[113],"as":[114],"compensator,":[116],"adopted.":[118],"This":[119],"controller":[121],"combines":[122],"advantages":[124],"RBFNN.":[128],"Simulation":[129],"results":[130],"show":[131],"correctness":[133],"effectiveness":[140],"approach.":[144]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}