{"id":"https://openalex.org/W2137043123","doi":"https://doi.org/10.1109/icca.2010.5524379","title":"Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems","display_name":"Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2137043123","doi":"https://doi.org/10.1109/icca.2010.5524379","mag":"2137043123"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2010.5524379","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524379","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","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/A5101724997","display_name":"Fan Hong","orcid":"https://orcid.org/0000-0002-1896-345X"},"institutions":[{"id":"https://openalex.org/I144291393","display_name":"Data Storage Institute","ror":"https://ror.org/03k5xes38","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I144291393"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Fan Hong","raw_affiliation_strings":["Data Storage Institute, Agency for Science, Technology and Research (ASTAR), Singapore","Data Storage Institute Agency for Science Technology and Research (A*STAR), DSI Building 5 Engineering Drive 1 Singapore 117608"],"affiliations":[{"raw_affiliation_string":"Data Storage Institute, Agency for Science, Technology and Research (ASTAR), Singapore","institution_ids":["https://openalex.org/I144291393","https://openalex.org/I115228651"]},{"raw_affiliation_string":"Data Storage Institute Agency for Science Technology and Research (A*STAR), DSI Building 5 Engineering Drive 1 Singapore 117608","institution_ids":["https://openalex.org/I115228651"]}]},{"author_position":"middle","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","Dept. of Electrical & Computer Engineering, National University of Singapore, Singapore 117605"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, National University of Singapore, Singapore 117605","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027926451","display_name":"Chee Khiang Pang","orcid":"https://orcid.org/0000-0001-8260-5879"},"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":"C. K. Pang","raw_affiliation_strings":["Department of Electrical & Computer Engineering, National University of Singapore, Singapore","Dept. of Electrical & Computer Engineering, National University of Singapore, Singapore 117605"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, National University of Singapore, Singapore 117605","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060738325","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","Dept. of Electrical & Computer Engineering, National University of Singapore, Singapore 117605"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Electrical & Computer Engineering, National University of Singapore, Singapore 117605","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100615337","display_name":"Zong\u2010Yao Sun","orcid":"https://orcid.org/0000-0002-2102-9588"},"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":"Z. Sun","raw_affiliation_strings":["College of Automation Science & Engineering, South China University of Technology, Guangzhou, China","College of Automation Science & Engineering, South China University of Technology, Guangzhou 510640, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Science & Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"College of Automation Science & Engineering, South China University of Technology, Guangzhou 510640, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101724997"],"corresponding_institution_ids":["https://openalex.org/I115228651","https://openalex.org/I144291393"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.14611856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"35","issue":null,"first_page":"2201","last_page":"2206"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.994700014591217,"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":0.989799976348877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6862565279006958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6788211464881897},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6615604162216187},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6122347116470337},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5969027280807495},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5506637692451477},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5301619172096252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47296494245529175},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.41068264842033386},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.382648229598999},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2944919168949127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.251943975687027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19859549403190613},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14475864171981812}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6862565279006958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6788211464881897},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6615604162216187},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6122347116470337},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5969027280807495},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5506637692451477},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5301619172096252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47296494245529175},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.41068264842033386},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.382648229598999},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2944919168949127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.251943975687027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19859549403190613},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14475864171981812},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icca.2010.5524379","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524379","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/84142","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/84142","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.726.2458","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.726.2458","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.ece.nus.edu.sg/stfpage/elepck/FHong%20et%20al%20-%20ICCA2010.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1493190793","https://openalex.org/W1575037797","https://openalex.org/W1971044547","https://openalex.org/W2039503043","https://openalex.org/W2054184020","https://openalex.org/W2057852635","https://openalex.org/W2072220463","https://openalex.org/W2079325629","https://openalex.org/W2089592749","https://openalex.org/W2090167557","https://openalex.org/W2113655629","https://openalex.org/W2117676908","https://openalex.org/W2120944681","https://openalex.org/W2123411906","https://openalex.org/W2130943182","https://openalex.org/W2163780576","https://openalex.org/W2166114934","https://openalex.org/W3104471247","https://openalex.org/W4246880450","https://openalex.org/W6634131016","https://openalex.org/W6642962755","https://openalex.org/W6676719681"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W2394227063","https://openalex.org/W2123635000","https://openalex.org/W2130946378","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W3201063403","https://openalex.org/W2115512691","https://openalex.org/W2162992672","https://openalex.org/W2792368061"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"an":[5],"adaptive":[6,33,101],"neuro-fuzzy":[7,34],"controller":[8],"design":[9,84],"for":[10],"a":[11,66],"class":[12],"of":[13,48,69,74,96],"uncertain":[14],"nonholonomic":[15],"systems":[16],"in":[17,52],"the":[18,50,53,58,75,83,91,110],"perturbed":[19],"chained":[20],"form":[21],"with":[22,114],"unknown":[23],"virtual":[24],"control":[25,35,72,93,97,102],"coefficients":[26],"and":[27,42,57],"strong":[28],"drift":[29],"nonlinearities.":[30],"The":[31,71],"robust":[32],"laws":[36],"are":[37,55,61],"developed":[38],"using":[39,87],"state":[40],"scaling":[41],"backstepping.":[43],"Semi-global":[44],"uniform":[45],"ultimate":[46],"boundedness":[47],"all":[49],"signals":[51],"closed-loop":[54,76],"guaranteed,":[56],"system":[59,77],"states":[60],"proven":[62],"to":[63,65,108],"converge":[64],"small":[67],"neighborhood":[68],"zero.":[70],"performance":[73],"is":[78,94,106],"guaranteed":[79],"by":[80],"appropriately":[81],"choosing":[82],"parameters.":[85],"By":[86],"fuzzy":[88],"logic":[89],"approximation,":[90],"proposed":[92,107],"free":[95],"singularity":[98],"problem.":[99],"An":[100],"based":[103],"switching":[104],"strategy":[105],"overcome":[109],"uncontrollability":[111],"problem":[112],"associated":[113],"x":[115],"<sub":[116,120],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[117,121],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">0</sub>":[118,122],"(t":[119],")":[123],"=":[124],"0.":[125]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}