{"id":"https://openalex.org/W2129558914","doi":"https://doi.org/10.1109/icarcv.2004.1468977","title":"Robust adaptive control of a wheeled mobile robot violating the pure nonholonomic constraint","display_name":"Robust adaptive control of a wheeled mobile robot violating the pure nonholonomic constraint","publication_year":2005,"publication_date":"2005-07-27","ids":{"openalex":"https://openalex.org/W2129558914","doi":"https://doi.org/10.1109/icarcv.2004.1468977","mag":"2129558914"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2004.1468977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2004.1468977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004.","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/A5112204592","display_name":"Z.P. Wang","orcid":"https://orcid.org/0009-0000-7771-1044"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Z.P. Wang","raw_affiliation_strings":["Department of Electrical & Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"C.Y. Su","raw_affiliation_strings":["Department of Mechanical Engineering, Concordia University, Montreal, QUE, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Concordia University, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065921012","display_name":"T.H. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"T.H. Lee","raw_affiliation_strings":["Department of Electrical & Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008501506","display_name":"Shuzhi Sam Ge","orcid":"https://orcid.org/0000-0001-5549-312X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"S.S. Ge","raw_affiliation_strings":["Department of Electrical & Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112204592"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":4.8457,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.9452573,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"987","last_page":"992"},"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":0.9972000122070312,"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":0.982699990272522,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8920755982398987},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8187503814697266},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7974073886871338},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.651099681854248},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6359162330627441},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6343141794204712},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5574352741241455},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5548895597457886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5172134637832642},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47595545649528503},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43432819843292236},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41420865058898926},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4111635088920593},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3793831169605255},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2768421173095703},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27122437953948975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2488950788974762},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24728012084960938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13714095950126648},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06837588548660278}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8920755982398987},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8187503814697266},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7974073886871338},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.651099681854248},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6359162330627441},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6343141794204712},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5574352741241455},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5548895597457886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5172134637832642},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47595545649528503},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43432819843292236},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41420865058898926},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4111635088920593},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3793831169605255},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2768421173095703},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27122437953948975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2488950788974762},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24728012084960938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13714095950126648},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06837588548660278},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive 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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2004.1468977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2004.1468977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004.","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/71649","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/71649","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W43835639","https://openalex.org/W1487127700","https://openalex.org/W1542776304","https://openalex.org/W1971044547","https://openalex.org/W1975197278","https://openalex.org/W2040234764","https://openalex.org/W2060422673","https://openalex.org/W2100165947","https://openalex.org/W2105030558","https://openalex.org/W2120944681","https://openalex.org/W2133066324","https://openalex.org/W2139391210","https://openalex.org/W2155973491","https://openalex.org/W2156833998","https://openalex.org/W2166114934","https://openalex.org/W2485041018","https://openalex.org/W4246880450","https://openalex.org/W6632367930","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2394227063","https://openalex.org/W2123635000","https://openalex.org/W2130946378","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W4287028639"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"robust":[3,62],"adaptive":[4,63],"control":[5],"strategy":[6],"is":[7,31,48,55,65],"presented":[8],"for":[9,70],"a":[10,41],"wheeled":[11],"mobile":[12],"robot":[13],"in":[14],"the":[15,22,29,46,52,58,68,71,75,79,83,87,97,104,107],"presence":[16],"of":[17,28,45,74,82,106],"model":[18,44],"perturbations":[19],"that":[20],"violates":[21],"nonholonomic":[23,26],"assumption.":[24],"The":[25,61,100],"constraint":[27],"vehicle":[30],"assumed":[32],"to":[33,66,92,95],"be":[34,93],"violated":[35],"by":[36],"an":[37],"unknown":[38],"slippage.":[39],"Consequently,":[40],"perturbed":[42],"kinematic":[43],"system":[47,76,84,88],"obtained.":[49],"Using":[50],"backstepping,":[51],"proposed":[53,108],"controller":[54,64],"constructed":[56],"at":[57],"dynamical":[59],"level.":[60],"eliminate":[67],"needs":[69],"LIP":[72],"form":[73],"dynamics":[77],"and":[78],"exact":[80],"bounds":[81],"dynamics.":[85],"All":[86],"states":[89],"are":[90],"shown":[91],"able":[94],"track":[96],"desired":[98],"trajectory.":[99],"simulation":[101],"results":[102],"demonstrate":[103],"effectiveness":[105],"controllers.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}