{"id":"https://openalex.org/W2909777482","doi":"https://doi.org/10.1109/icarm.2018.8610695","title":"Trajectory-Tracking for a Mobile Robot Using Robust Predictive Control and Adaptive Control","display_name":"Trajectory-Tracking for a Mobile Robot Using Robust Predictive Control and Adaptive Control","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2909777482","doi":"https://doi.org/10.1109/icarm.2018.8610695","mag":"2909777482"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5102796122","display_name":"Yao Chen","orcid":"https://orcid.org/0009-0001-1714-2166"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Chen","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051913795","display_name":"Haiyi Kong","orcid":"https://orcid.org/0000-0001-6904-0519"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haiyi Kong","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100773396","display_name":"Ke Fan","orcid":"https://orcid.org/0000-0002-8916-6183"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Ke","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980999827384949,"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":0.7951560020446777},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7578612565994263},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6988517045974731},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6241637468338013},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.619206428527832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5906609296798706},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.587310791015625},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5369344353675842},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5019199848175049},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4690573513507843},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44483843445777893},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4314618408679962},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.42384177446365356},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38997209072113037},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26284700632095337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24224936962127686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2300618290901184},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2136276364326477},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.17663204669952393}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7951560020446777},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7578612565994263},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6988517045974731},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6241637468338013},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.619206428527832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5906609296798706},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.587310791015625},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5369344353675842},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5019199848175049},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4690573513507843},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44483843445777893},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4314618408679962},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42384177446365356},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38997209072113037},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26284700632095337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24224936962127686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2300618290901184},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2136276364326477},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.17663204669952393},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1493190793","https://openalex.org/W1517236425","https://openalex.org/W1534096605","https://openalex.org/W1973203708","https://openalex.org/W1979729334","https://openalex.org/W1984703383","https://openalex.org/W1994298651","https://openalex.org/W2001537057","https://openalex.org/W2023102091","https://openalex.org/W2049933349","https://openalex.org/W2055478070","https://openalex.org/W2093817182","https://openalex.org/W2097814659","https://openalex.org/W2104992636","https://openalex.org/W2109873351","https://openalex.org/W2115123877","https://openalex.org/W2115373488","https://openalex.org/W2136952170","https://openalex.org/W2141943257","https://openalex.org/W2148319451","https://openalex.org/W2150613245","https://openalex.org/W2153202134","https://openalex.org/W2155675828","https://openalex.org/W2162306044","https://openalex.org/W2243726911","https://openalex.org/W2752879615","https://openalex.org/W2810116692","https://openalex.org/W3104471247","https://openalex.org/W3150066796","https://openalex.org/W6643563760"],"related_works":["https://openalex.org/W2080896647","https://openalex.org/W2025587901","https://openalex.org/W2028217664","https://openalex.org/W2158000646","https://openalex.org/W2886734572","https://openalex.org/W1852236601","https://openalex.org/W3011628374","https://openalex.org/W2979398413","https://openalex.org/W1532677580","https://openalex.org/W2386719143"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,30,60,103],"control":[4,17,23,44],"scheme":[5],"of":[6],"trajectory":[7,115],"tracking":[8],"for":[9,112],"the":[10,40,56,70,78,91,108,114,118,125],"mobile":[11,126],"robots":[12],"by":[13],"combining":[14],"robust":[15],"predictive":[16,43],"in":[18,24,82,86],"velocity":[19,28],"level":[20],"and":[21,98],"adaptive":[22,67],"acceleration":[25,83],"level.":[26,84],"In":[27],"level,":[29],"constrained":[31],"quadratic":[32],"programming":[33],"(QP)":[34],"problem":[35,58],"can":[36],"be":[37],"obtained":[38],"through":[39],"proposed":[41,97],"model":[42],"(MPC)":[45],"approach.":[46],"A":[47],"primal-dual":[48],"neural":[49,71],"network":[50,72],"(PDNN)":[51],"is":[52,74,96],"used":[53],"to":[54,76,88,106],"solve":[55],"QP":[57],"over":[59],"finite":[61],"receding":[62],"horizon.":[63],"And":[64],"then,":[65],"an":[66,93],"controller":[68],"employing":[69],"technology":[73],"presented":[75],"approximate":[77],"uncertain":[79],"robotic":[80],"dynamics":[81],"Also,":[85],"order":[87],"deal":[89],"with":[90],"saturation,":[92],"auxiliary":[94],"system":[95],"designed.":[99],"Besides,":[100],"we":[101],"apply":[102],"disturbance":[104,110],"observer":[105],"rejecting":[107],"unknown":[109],"online":[111],"achieving":[113],"tracking.":[116],"Finally,":[117],"experimental":[119],"studies":[120],"are":[121],"carried":[122],"out":[123],"on":[124],"robots.":[127]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
