{"id":"https://openalex.org/W2093779068","doi":"https://doi.org/10.1109/icarcv.2014.7064517","title":"Model-based predictive control of wheeled omni-directional robots considering nonlinear dynamical constraints and input delay","display_name":"Model-based predictive control of wheeled omni-directional robots considering nonlinear dynamical constraints and input delay","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2093779068","doi":"https://doi.org/10.1109/icarcv.2014.7064517","mag":"2093779068"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2014.7064517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064517","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 &amp; 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/A5089812466","display_name":"Mahdi Zarghami","orcid":"https://orcid.org/0000-0001-9179-1431"},"institutions":[{"id":"https://openalex.org/I197220011","display_name":"Qazvin Islamic Azad University","ror":"https://ror.org/023kjn321","country_code":"IR","type":"education","lineage":["https://openalex.org/I110525433","https://openalex.org/I197220011"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Mahdi Zarghami","raw_affiliation_strings":["Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","Mechatronics Research Laboratory (MRL), Faculty of Electrical, Biomedicai and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","institution_ids":["https://openalex.org/I197220011"]},{"raw_affiliation_string":"Mechatronics Research Laboratory (MRL), Faculty of Electrical, Biomedicai and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","institution_ids":["https://openalex.org/I197220011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023056265","display_name":"Ahmad Fakharian","orcid":"https://orcid.org/0000-0002-6530-2689"},"institutions":[{"id":"https://openalex.org/I197220011","display_name":"Qazvin Islamic Azad University","ror":"https://ror.org/023kjn321","country_code":"IR","type":"education","lineage":["https://openalex.org/I110525433","https://openalex.org/I197220011"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ahmad Fakharian","raw_affiliation_strings":["Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","Mechatronics Research Laboratory (MRL), Faculty of Electrical, Biomedicai and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","institution_ids":["https://openalex.org/I197220011"]},{"raw_affiliation_string":"Mechatronics Research Laboratory (MRL), Faculty of Electrical, Biomedicai and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","institution_ids":["https://openalex.org/I197220011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042122195","display_name":"Amin Ganjali Poudeh","orcid":null},"institutions":[{"id":"https://openalex.org/I197220011","display_name":"Qazvin Islamic Azad University","ror":"https://ror.org/023kjn321","country_code":"IR","type":"education","lineage":["https://openalex.org/I110525433","https://openalex.org/I197220011"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Amin Ganjali Poudeh","raw_affiliation_strings":["Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","Mechatronics Research Laboratory (MRL), Faculty of Electrical, Biomedicai and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","institution_ids":["https://openalex.org/I197220011"]},{"raw_affiliation_string":"Mechatronics Research Laboratory (MRL), Faculty of Electrical, Biomedicai and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran","institution_ids":["https://openalex.org/I197220011"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025335859","display_name":"Aras Adhami-Mirhosseini","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Aras Adhami-Mirhosseini","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","Advanced Control Systems Lab., School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Advanced Control Systems Lab., School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089812466"],"corresponding_institution_ids":["https://openalex.org/I197220011"],"apc_list":null,"apc_paid":null,"fwci":0.8115,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78842903,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":null,"first_page":"1379","last_page":"1385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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":0.9955999851226807,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955999851226807,"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":0.7377281785011292},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7287861704826355},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6278442144393921},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6271587610244751},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6264293193817139},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.6109683513641357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5862188935279846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4746454358100891},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4481819272041321},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4438621997833252},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4383101463317871},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42827779054641724},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2887817919254303},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2601911723613739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13410118222236633},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11093416810035706},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.09209102392196655}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7377281785011292},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7287861704826355},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6278442144393921},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6271587610244751},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6264293193817139},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.6109683513641357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5862188935279846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4746454358100891},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4481819272041321},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4438621997833252},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4383101463317871},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42827779054641724},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2887817919254303},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2601911723613739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13410118222236633},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11093416810035706},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.09209102392196655},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2014.7064517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064517","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 &amp; Vision (ICARCV)","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":28,"referenced_works":["https://openalex.org/W292508636","https://openalex.org/W1593443060","https://openalex.org/W1603657390","https://openalex.org/W1973920429","https://openalex.org/W1999636742","https://openalex.org/W2004975435","https://openalex.org/W2037950596","https://openalex.org/W2040537032","https://openalex.org/W2054908067","https://openalex.org/W2065020704","https://openalex.org/W2068991880","https://openalex.org/W2070553758","https://openalex.org/W2077441282","https://openalex.org/W2091259063","https://openalex.org/W2115787395","https://openalex.org/W2122561468","https://openalex.org/W2166915740","https://openalex.org/W2169967276","https://openalex.org/W2172117433","https://openalex.org/W2296319761","https://openalex.org/W2324365132","https://openalex.org/W3029645440","https://openalex.org/W3102923851","https://openalex.org/W4250589301","https://openalex.org/W4293775970","https://openalex.org/W6666871941","https://openalex.org/W6684754062","https://openalex.org/W7045849263"],"related_works":["https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W2005471069","https://openalex.org/W4312096302","https://openalex.org/W2101598871","https://openalex.org/W2109573574","https://openalex.org/W2075639008"],"abstract_inverted_index":{"The":[0],"main":[1],"enthusiasm":[2],"of":[3,6,33,39,45,52,78,86,97,128,138],"the":[4,29,36,53,75,95,106,126,129],"use":[5],"MPC":[7],"in":[8,15,25,118,136,142],"this":[9],"study":[10],"relies":[11],"on":[12],"its":[13,72,134],"ability":[14],"including":[16],"state":[17],"and":[18,124,140],"control":[19,77,131],"constraints":[20,34],"that":[21,112],"naturally":[22],"comes":[23],"up":[24],"practical":[26],"problems.":[27],"At":[28],"same":[30],"time,":[31],"nonlinearity":[32],"compels":[35],"numerical":[37],"solution":[38],"optimization":[40,51],"problem.":[41],"Therefore,":[42],"a":[43,66,90,103],"number":[44],"intelligent":[46],"algorithms":[47],"to":[48,71],"overcome":[49],"nonlinear":[50],"cost":[54],"function":[55],"is":[56,82,100,115],"reviewed,":[57],"however,":[58],"their":[59],"time":[60,114],"consuming":[61],"computations":[62],"are":[63],"considered":[64],"as":[65],"dominant":[67],"limitation.":[68],"Meantime,":[69],"due":[70],"remarkable":[73],"advantages,":[74],"motion":[76],"Omni-directional":[79],"mobile":[80,98],"robot":[81,99],"handled":[83],"by":[84],"design":[85],"NMPC":[87],"scheme.":[88],"Furthermore,":[89],"novel":[91],"kinematic":[92,122],"model":[93,123],"for":[94,105],"application":[96],"represented.":[101],"As":[102],"demonstration":[104],"proposed":[107],"model,":[108],"simulation":[109],"results":[110],"show":[111],"settling":[113],"reduced":[116],"22%":[117],"comparison":[119],"with":[120],"ideal":[121],"also":[125],"performance":[127],"suggested":[130],"strategy":[132],"shows":[133],"effectiveness":[135],"presence":[137],"disturbance":[139],"noise":[141],"all":[143],"environments.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
