{"id":"https://openalex.org/W1580323675","doi":"https://doi.org/10.1109/icarcv.2002.1234933","title":"Tracking control of differential mobile robots using adaptive coupling scheme","display_name":"Tracking control of differential mobile robots using adaptive coupling scheme","publication_year":2004,"publication_date":"2004-01-24","ids":{"openalex":"https://openalex.org/W1580323675","doi":"https://doi.org/10.1109/icarcv.2002.1234933","mag":"1580323675"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1234933","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234933","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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/A5113682274","display_name":"Haining Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Haining Dong","raw_affiliation_strings":["Department of Manufacturing Engineering and Engineering management, City University of Hong Kong, Hong Kong, China","Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Manufacturing Engineering and Engineering management, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382905","display_name":"Dong Sun","orcid":"https://orcid.org/0000-0003-3945-4037"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Dong Sun","raw_affiliation_strings":["Department of Manufacturing Engineering and Engineering management, City University of Hong Kong, Hong Kong, China","Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Manufacturing Engineering and Engineering management, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111896094","display_name":"S.K. Tso","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"S.K. Tso","raw_affiliation_strings":["Department of Manufacturing Engineering and Engineering management, City University of Hong Kong, Hong Kong, China","Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Manufacturing Engineering and Engineering management, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113682274"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":0.8692,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.7868041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"1138","last_page":"1143"},"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":0.996399998664856,"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":0.991599977016449,"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/control-theory","display_name":"Control theory (sociology)","score":0.7685821056365967},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6425095796585083},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6302391886711121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6272631883621216},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6119351387023926},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6057643890380859},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5757678747177124},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5639169812202454},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5451199412345886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5338305830955505},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5295439958572388},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5293710231781006},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4833928644657135},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.482927531003952},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4693889021873474},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4597402513027191},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4249055087566376},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42258748412132263},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.41411101818084717},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2995304465293884},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22362187504768372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1620892882347107},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14687073230743408}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7685821056365967},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6425095796585083},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6302391886711121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6272631883621216},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6119351387023926},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6057643890380859},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5757678747177124},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5639169812202454},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5451199412345886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5338305830955505},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5295439958572388},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5293710231781006},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4833928644657135},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.482927531003952},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4693889021873474},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4597402513027191},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4249055087566376},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42258748412132263},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.41411101818084717},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2995304465293884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22362187504768372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1620892882347107},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14687073230743408},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2002.1234933","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234933","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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":14,"referenced_works":["https://openalex.org/W1915949642","https://openalex.org/W2002440441","https://openalex.org/W2028044548","https://openalex.org/W2069612046","https://openalex.org/W2080026597","https://openalex.org/W2102620728","https://openalex.org/W2119161613","https://openalex.org/W2121012413","https://openalex.org/W2130618585","https://openalex.org/W2143729814","https://openalex.org/W2145839349","https://openalex.org/W2167908956","https://openalex.org/W2168785016","https://openalex.org/W6675272084"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W2889285810","https://openalex.org/W1545539801","https://openalex.org/W4280596088"],"abstract_inverted_index":{"In":[0],"this":[1,40],"paper,":[2],"a":[3,19,55],"new":[4],"adaptive":[5,85],"coupling":[6],"control":[7,68,86,114],"algorithm":[8],"is":[9],"developed":[10],"to":[11,92,107],"synchronize":[12],"motions":[13],"of":[14,18,43,47,63,94,111],"two":[15],"driving":[16,44],"wheels":[17,45],"differential":[20],"mobile":[21],"robot":[22,26,49],"so":[23],"that":[24],"the":[25,29,37,48,61,67,73,81,100,109,112],"maintains":[27],"in":[28,36,39,54,66],"desired":[30],"trajectory":[31],"path.":[32],"Unlike":[33],"considerable":[34],"approaches":[35],"literature,":[38],"study":[41],"motion":[42],"instead.":[46],"configuration":[50],"are":[51],"directly":[52],"controlled":[53],"synchronous":[56],"manner.":[57],"This":[58],"strategy":[59],"avoids":[60],"involvement":[62],"nonholonomic":[64],"constraint":[65],"design,":[69],"and":[70,88,99],"therefore":[71],"simplifies":[72],"practical":[74],"implementation":[75],"significantly.":[76],"The":[77],"proposed":[78,113],"controller":[79],"incorporates":[80],"cross-coupling":[82],"technology":[83],"into":[84],"architecture,":[87],"guarantees":[89],"asymptotic":[90],"convergence":[91],"zero":[93],"both":[95],"position":[96],"tracking":[97],"error":[98],"synchronization":[101],"error.":[102],"Experiments":[103],"have":[104],"been":[105],"conducted":[106],"verify":[108],"effectiveness":[110],"approach.":[115]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
