{"id":"https://openalex.org/W4390693622","doi":"https://doi.org/10.1109/iccais59597.2023.10382286","title":"Proposal of a Fault-tolerant controller for wheeled mobile robots with faulty actuators","display_name":"Proposal of a Fault-tolerant controller for wheeled mobile robots with faulty actuators","publication_year":2023,"publication_date":"2023-11-27","ids":{"openalex":"https://openalex.org/W4390693622","doi":"https://doi.org/10.1109/iccais59597.2023.10382286"},"language":"en","primary_location":{"id":"doi:10.1109/iccais59597.2023.10382286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais59597.2023.10382286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 12th International Conference on Control, Automation and Information Sciences (ICCAIS)","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/A5017240224","display_name":"Ho Sy Phuong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086020","display_name":"Vinh Long University of Technology Education","ror":"https://ror.org/00c72nj97","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210086020"]},{"id":"https://openalex.org/I1315456113","display_name":"Vinh University","ror":"https://ror.org/0244cgm12","country_code":"VN","type":"education","lineage":["https://openalex.org/I1315456113"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Ho Sy Phuong","raw_affiliation_strings":["Vinh University,School of Engineering and Technology,Nghe An,Vietnam","School of Engineering and Technology, Vinh University, Nghe An, Vietnam"],"affiliations":[{"raw_affiliation_string":"Vinh University,School of Engineering and Technology,Nghe An,Vietnam","institution_ids":["https://openalex.org/I1315456113","https://openalex.org/I4210086020"]},{"raw_affiliation_string":"School of Engineering and Technology, Vinh University, Nghe An, Vietnam","institution_ids":["https://openalex.org/I1315456113"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048579354","display_name":"Ng\u00f4 M\u1ea1nh Ti\u1ebfn","orcid":"https://orcid.org/0000-0002-6690-9714"},"institutions":[{"id":"https://openalex.org/I70349855","display_name":"Vietnam Academy of Science and Technology","ror":"https://ror.org/02wsd5p50","country_code":"VN","type":"funder","lineage":["https://openalex.org/I70349855"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Ngo Manh Tien","raw_affiliation_strings":["Institute of Physics Vietnam Academy of Science and Technology,Ha Noi,Vietnam","Institute of Physics Vietnam Academy of Science and Technology, Ha Noi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Institute of Physics Vietnam Academy of Science and Technology,Ha Noi,Vietnam","institution_ids":["https://openalex.org/I70349855"]},{"raw_affiliation_string":"Institute of Physics Vietnam Academy of Science and Technology, Ha Noi, Vietnam","institution_ids":["https://openalex.org/I70349855"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112480331","display_name":"Ngo Duy Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I70349855","display_name":"Vietnam Academy of Science and Technology","ror":"https://ror.org/02wsd5p50","country_code":"VN","type":"funder","lineage":["https://openalex.org/I70349855"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Ngo Duy Tan","raw_affiliation_strings":["Space Technology Institute Vietnam Academy of Science and Technology,Ha Noi,Vietnam","Space Technology Institute Vietnam Academy of Science and Technology, Ha Noi, Vietnam"],"affiliations":[{"raw_affiliation_string":"Space Technology Institute Vietnam Academy of Science and Technology,Ha Noi,Vietnam","institution_ids":["https://openalex.org/I70349855"]},{"raw_affiliation_string":"Space Technology Institute Vietnam Academy of Science and Technology, Ha Noi, Vietnam","institution_ids":["https://openalex.org/I70349855"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039457260","display_name":"Mai The Anh","orcid":null},"institutions":[{"id":"https://openalex.org/I1315456113","display_name":"Vinh University","ror":"https://ror.org/0244cgm12","country_code":"VN","type":"education","lineage":["https://openalex.org/I1315456113"]},{"id":"https://openalex.org/I4210086020","display_name":"Vinh Long University of Technology Education","ror":"https://ror.org/00c72nj97","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210086020"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Mai The Anh","raw_affiliation_strings":["Vinh University,School of Engineering and Technology,Nghe An,Vietnam","School of Engineering and Technology, Vinh University, Nghe An, Vietnam"],"affiliations":[{"raw_affiliation_string":"Vinh University,School of Engineering and Technology,Nghe An,Vietnam","institution_ids":["https://openalex.org/I1315456113","https://openalex.org/I4210086020"]},{"raw_affiliation_string":"School of Engineering and Technology, Vinh University, Nghe An, Vietnam","institution_ids":["https://openalex.org/I1315456113"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114116757","display_name":"Duong Dinh Tu","orcid":null},"institutions":[{"id":"https://openalex.org/I1315456113","display_name":"Vinh University","ror":"https://ror.org/0244cgm12","country_code":"VN","type":"education","lineage":["https://openalex.org/I1315456113"]},{"id":"https://openalex.org/I4210086020","display_name":"Vinh Long University of Technology Education","ror":"https://ror.org/00c72nj97","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210086020"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Duong Dinh Tu","raw_affiliation_strings":["Vinh University,School of Engineering and Technology,Nghe An,Vietnam","School of Engineering and Technology, Vinh University, Nghe An, Vietnam"],"affiliations":[{"raw_affiliation_string":"Vinh University,School of Engineering and Technology,Nghe An,Vietnam","institution_ids":["https://openalex.org/I1315456113","https://openalex.org/I4210086020"]},{"raw_affiliation_string":"School of Engineering and Technology, Vinh University, Nghe An, Vietnam","institution_ids":["https://openalex.org/I1315456113"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5017240224"],"corresponding_institution_ids":["https://openalex.org/I1315456113","https://openalex.org/I4210086020"],"apc_list":null,"apc_paid":null,"fwci":0.538,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67716476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"507","last_page":"512"},"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":0.9990000128746033,"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":0.9990000128746033,"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":0.98089998960495,"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/mobile-robot","display_name":"Mobile robot","score":0.7368065714836121},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6949665546417236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6762556433677673},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6696697473526001},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5743914842605591},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4909375011920929},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3452874422073364},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3405061960220337},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.2611556947231293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21657168865203857},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20912104845046997}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7368065714836121},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6949665546417236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6762556433677673},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6696697473526001},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5743914842605591},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4909375011920929},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3452874422073364},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3405061960220337},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2611556947231293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21657168865203857},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20912104845046997},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccais59597.2023.10382286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccais59597.2023.10382286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 12th International Conference on Control, Automation and Information Sciences (ICCAIS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1536420540","https://openalex.org/W1559107966","https://openalex.org/W1972005318","https://openalex.org/W1982947167","https://openalex.org/W2004011682","https://openalex.org/W2027822275","https://openalex.org/W2056593080","https://openalex.org/W2076420009","https://openalex.org/W2115990616","https://openalex.org/W2136159712","https://openalex.org/W2283952362","https://openalex.org/W2396603033","https://openalex.org/W2764049532","https://openalex.org/W2782023133","https://openalex.org/W2790791576","https://openalex.org/W2792756224","https://openalex.org/W2795623602","https://openalex.org/W2799421922","https://openalex.org/W2808353679","https://openalex.org/W2935761923","https://openalex.org/W2964241344","https://openalex.org/W2990311474","https://openalex.org/W3094732301","https://openalex.org/W4230278603","https://openalex.org/W4236668530","https://openalex.org/W4293169136","https://openalex.org/W4324147329"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"article":[1],"introduces":[2],"a":[3,8,27],"fault-tolerant":[4],"control":[5,89,94,117,128],"scheme":[6],"for":[7,87],"two-wheeled":[9],"mobile":[10],"robot.":[11],"The":[12,104],"focus":[13],"of":[14,22,48,74,114,125],"this":[15,70],"model":[16],"is":[17,41,82,106],"to":[18,43,54,110,122],"address":[19],"the":[20,25,33,45,49,59,72,75,79,112,115,123],"impact":[21],"faults":[23,61],"within":[24],"actuators,":[26],"critical":[28],"aspect":[29],"that":[30,62],"significantly":[31],"impacts":[32],"robot\u2019s":[34,50],"performance":[35],"and":[36,57,92,100,127],"operational":[37],"efficiency.":[38],"An":[39],"observer":[40],"designed":[42],"monitor":[44],"dynamic":[46],"state":[47],"system,":[51],"allowing":[52],"it":[53],"promptly":[55],"identify":[56],"assess":[58],"actuator\u2019s":[60],"may":[63],"arise":[64],"during":[65],"its":[66],"operation.":[67],"Based":[68],"on":[69,78,98],"data,":[71],"extent":[73],"fault\u2019s":[76],"influence":[77],"overall":[80],"system":[81],"estimated,":[83],"providing":[84],"essential":[85],"information":[86],"subsequent":[88],"decisions.":[90],"Analyzing":[91],"synthesizing":[93],"laws":[95],"are":[96],"built":[97],"mathematics":[99],"Lyapunov":[101],"stability":[102],"theory.":[103],"simulation":[105],"done":[107],"by":[108],"MATLAB-Simulink":[109],"validate":[111],"efficiency":[113],"proposed":[116],"law,":[118],"contributing":[119],"valuable":[120],"insights":[121],"domain":[124],"robotics":[126],"engineering.":[129]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-24T08:23:43.765630","created_date":"2025-10-10T00:00:00"}