{"id":"https://openalex.org/W1547522092","doi":"https://doi.org/10.1109/icar.2015.7251470","title":"Adaptive motion control for a differentially driven semi-autonomous wheelchair platform","display_name":"Adaptive motion control for a differentially driven semi-autonomous wheelchair platform","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1547522092","doi":"https://doi.org/10.1109/icar.2015.7251470","mag":"1547522092"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","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/A5015371354","display_name":"Dmitry A. Sinyukov","orcid":"https://orcid.org/0000-0002-6786-9486"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry A. Sinyukov","raw_affiliation_strings":["Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA, USA","Robotics Engineering Program, Worcester Polytechnic Institute, MA, 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"Robotics Engineering Program, Worcester Polytechnic Institute, MA, 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taskin Padir","raw_affiliation_strings":["Robotics Engineering Program, Worcester Polytechnic Institute, MA, 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Engineering Program, Worcester Polytechnic Institute, MA, 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"33","issue":null,"first_page":"288","last_page":"294"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.9991000294685364,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/wheelchair","display_name":"Wheelchair","score":0.8754034638404846},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.627087414264679},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6240418553352356},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.620278000831604},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5728588104248047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.556152880191803},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5292569994926453},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4820476472377777},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4786871075630188},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.474839985370636},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.46797043085098267},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.44761380553245544},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.43209052085876465},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43156805634498596},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4254888892173767},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36068496108055115},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27310389280319214},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2236720323562622},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20385205745697021}],"concepts":[{"id":"https://openalex.org/C2781042323","wikidata":"https://www.wikidata.org/wiki/Q191931","display_name":"Wheelchair","level":2,"score":0.8754034638404846},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.627087414264679},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6240418553352356},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.620278000831604},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5728588104248047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.556152880191803},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5292569994926453},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4820476472377777},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4786871075630188},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.474839985370636},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.46797043085098267},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.44761380553245544},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.43209052085876465},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43156805634498596},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4254888892173767},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36068496108055115},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27310389280319214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2236720323562622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20385205745697021},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2015.7251470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W75509891","https://openalex.org/W234738007","https://openalex.org/W2009675708","https://openalex.org/W2012790220","https://openalex.org/W2028044548","https://openalex.org/W2044449630","https://openalex.org/W2050673413","https://openalex.org/W2067603665","https://openalex.org/W2069612046","https://openalex.org/W2076667711","https://openalex.org/W2085987809","https://openalex.org/W2089033613","https://openalex.org/W2089421806","https://openalex.org/W2091063514","https://openalex.org/W2106265938","https://openalex.org/W2108758759","https://openalex.org/W2115990616","https://openalex.org/W2125740109","https://openalex.org/W2144609682","https://openalex.org/W2154037495","https://openalex.org/W2161532993","https://openalex.org/W2271361767","https://openalex.org/W2550611301","https://openalex.org/W2739431032","https://openalex.org/W4246770008","https://openalex.org/W6693787897","https://openalex.org/W7073609445"],"related_works":["https://openalex.org/W4378364071","https://openalex.org/W2399287283","https://openalex.org/W1998563140","https://openalex.org/W2742303892","https://openalex.org/W2724219770","https://openalex.org/W2076341217","https://openalex.org/W2065035327","https://openalex.org/W2718635042","https://openalex.org/W1975017672","https://openalex.org/W2158051119"],"abstract_inverted_index":{"Motorized":[0],"wheelchairs":[1],"are":[2,85,100,130],"systems":[3],"with":[4,47,96],"changing":[5],"parameters:":[6],"rolling":[7],"friction":[8],"which":[9],"depends":[10],"on":[11,108],"the":[12,20,24,30,52,73,88,91,127],"ground":[13],"surface,":[14],"center":[15],"of":[16,23,32,55,126],"gravity":[17],"and":[18,82,90,102,121,124],"even":[19],"total":[21],"mass":[22],"system":[25],"may":[26],"vary.":[27],"This":[28,41],"affects":[29],"performance":[31],"PID":[33],"controllers":[34],"normally":[35],"used":[36],"for":[37,51,87,117],"wheelchair":[38,59,89,118],"velocity":[39,75],"control.":[40],"paper":[42],"presents":[43],"an":[44,69],"adaptive":[45],"controller":[46,63],"online":[48],"parameter":[49],"estimation":[50],"motion":[53],"control":[54],"a":[56,65,109],"semi-autonomous":[57],"robotic":[58],"platform.":[60],"The":[61],"proposed":[62,128],"accepts":[64],"second-order":[66],"trajectory":[67],"as":[68],"input":[70],"rather":[71],"then":[72],"desired":[74],"at":[76],"each":[77],"moment":[78],"in":[79,104],"time.":[80],"Mathematical":[81],"computer":[83],"models":[84],"developed":[86,111],"controller.":[92],"Four":[93],"simulation":[94],"experiments":[95],"different":[97],"initial":[98],"conditions":[99],"demonstrated":[101],"analyzed":[103],"this":[105],"work":[106],"based":[107],"custom":[110],"MATLAB/Simulink":[112],"<sup":[113],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[114],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u00ae</sup>":[115],"framework":[116],"dynamic":[119],"modeling":[120],"visualization.":[122],"Advantages":[123],"limitations":[125],"approach":[129],"discussed.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
