{"id":"https://openalex.org/W2050810687","doi":"https://doi.org/10.1109/icarcv.2014.7064293","title":"Modeling and motion/force tracking for nonholonomic dynamic systems with affine constraints","display_name":"Modeling and motion/force tracking for nonholonomic dynamic systems with affine constraints","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2050810687","doi":"https://doi.org/10.1109/icarcv.2014.7064293","mag":"2050810687"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2014.7064293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","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/A5015948239","display_name":"Zhongcai Zhang","orcid":"https://orcid.org/0000-0003-3123-868X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongcai Zhang","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, Jiangsu, China","School of Automation, Southeast University, Nanjing, Jiangsu 210096, China)"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, Jiangsu, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, Jiangsu 210096, China)","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034829291","display_name":"Yuqiang Wu","orcid":"https://orcid.org/0000-0003-0775-6743"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqiang Wu","raw_affiliation_strings":["Institute of Automation, Qufu Normal University, Qufu, Shandong, China","Institute of Automation,Qufu Normal University,Qufu,Shandong 273165,China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Qufu Normal University, Qufu, Shandong, China","institution_ids":["https://openalex.org/I202126657"]},{"raw_affiliation_string":"Institute of Automation,Qufu Normal University,Qufu,Shandong 273165,China","institution_ids":["https://openalex.org/I202126657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015948239"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.13400503,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"38","issue":null,"first_page":"135","last_page":"140"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7846148014068604},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6639958024024963},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6362839937210083},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6278413534164429},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6031025648117065},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5556918978691101},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5473549365997314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5460701584815979},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5369828343391418},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5365903377532959},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.44310876727104187},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41025155782699585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33062800765037537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20709285140037537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1895873248577118},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1355387270450592},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13082778453826904},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09272134304046631}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7846148014068604},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6639958024024963},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6362839937210083},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6278413534164429},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6031025648117065},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5556918978691101},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5473549365997314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5460701584815979},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5369828343391418},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5365903377532959},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.44310876727104187},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41025155782699585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33062800765037537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20709285140037537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1895873248577118},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1355387270450592},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13082778453826904},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09272134304046631},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/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/icarcv.2014.7064293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064293","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1983202430","https://openalex.org/W2011892833","https://openalex.org/W2067603665","https://openalex.org/W2082423372","https://openalex.org/W2093817182","https://openalex.org/W2101419433","https://openalex.org/W2105030558","https://openalex.org/W2106737440","https://openalex.org/W2108394827","https://openalex.org/W2108931365","https://openalex.org/W2111908311","https://openalex.org/W2113240714","https://openalex.org/W2126796362","https://openalex.org/W2133361850","https://openalex.org/W2133480083","https://openalex.org/W2136073474","https://openalex.org/W2156833998","https://openalex.org/W2168164612","https://openalex.org/W2169468938","https://openalex.org/W2172096349","https://openalex.org/W2313741951","https://openalex.org/W4236066308","https://openalex.org/W6678890401","https://openalex.org/W6679579952"],"related_works":["https://openalex.org/W2072344655","https://openalex.org/W2326481978","https://openalex.org/W2033907646","https://openalex.org/W2524844226","https://openalex.org/W1542582640","https://openalex.org/W2010978377","https://openalex.org/W2118707471","https://openalex.org/W2152027339","https://openalex.org/W2329610818","https://openalex.org/W2464404770"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,25,39,44,55,75,86],"devoted":[3],"to":[4,66],"the":[5,48,61,69,84],"problem":[6],"of":[7,22,72,83],"modeling":[8],"and":[9],"position/force":[10],"tracking":[11,63,70],"for":[12,41],"nonholonomic":[13],"dynamic":[14,23,36],"systems":[15],"with":[16,77],"affine":[17],"constraints.":[18],"The":[19,81],"rigorous":[20],"derivation":[21],"model":[24],"given.":[26],"By":[27],"reasonably":[28],"introducing":[29],"so-called":[30],"internal":[31],"state":[32],"vector,":[33],"a":[34,78,89,92,95],"reduced":[35],"model,":[37],"which":[38],"suitable":[40],"control":[42,53],"design,":[43],"addressed.":[45],"Based":[46],"on":[47,94],"sliding-mode":[49],"theory,":[50],"an":[51],"adaptive":[52],"strategy":[54],"then":[56],"derived,":[57],"guaranteeing":[58],"that":[59],"1)":[60],"trajectory":[62],"error":[64,71],"converges":[65],"zero;":[67],"2)":[68],"constraints":[73],"force":[74],"bounded":[76],"controllable":[79],"bound.":[80],"efficiency":[82],"controller":[85],"demonstrated":[87],"by":[88],"mechanics":[90],"system:":[91],"boat":[93],"running":[96],"river.":[97]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}