{"id":"https://openalex.org/W2774471947","doi":"https://doi.org/10.1109/iecon.2017.8217095","title":"Nonlinear model predictive tracking control of nonholonomic wheeled mobile robot using modified C/GMRES algorithm","display_name":"Nonlinear model predictive tracking control of nonholonomic wheeled mobile robot using modified C/GMRES algorithm","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2774471947","doi":"https://doi.org/10.1109/iecon.2017.8217095","mag":"2774471947"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2017.8217095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8217095","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","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/A5038460384","display_name":"Yuanyang Pei","orcid":null},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyang Pei","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083229405","display_name":"Kunwu Zhang","orcid":"https://orcid.org/0000-0002-2734-5813"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunwu Zhang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077074836","display_name":"Jian Pan","orcid":"https://orcid.org/0000-0002-5545-7433"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Pan","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028730873","display_name":"Yang Shi","orcid":"https://orcid.org/0000-0003-1337-5322"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Shi","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I74525822"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74525822"],"apc_list":null,"apc_paid":null,"fwci":1.6324,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.81424524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"75","issue":null,"first_page":"6298","last_page":"6303"},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9979000091552734,"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":0.9925000071525574,"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/control-theory","display_name":"Control theory (sociology)","score":0.7040613889694214},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6552952527999878},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6155049800872803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5834386348724365},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5595603585243225},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5205286741256714},{"id":"https://openalex.org/keywords/generalized-minimal-residual-method","display_name":"Generalized minimal residual method","score":0.515231192111969},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.510209321975708},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.49750569462776184},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4808131456375122},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.3752592206001282},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3571286201477051},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.283732533454895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15199869871139526},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10166019201278687}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7040613889694214},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6552952527999878},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6155049800872803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5834386348724365},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5595603585243225},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5205286741256714},{"id":"https://openalex.org/C155332342","wikidata":"https://www.wikidata.org/wiki/Q1432976","display_name":"Generalized minimal residual method","level":3,"score":0.515231192111969},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.510209321975708},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.49750569462776184},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4808131456375122},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3752592206001282},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3571286201477051},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.283732533454895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15199869871139526},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10166019201278687},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2017.8217095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8217095","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W46257536","https://openalex.org/W388179047","https://openalex.org/W1999502602","https://openalex.org/W2000232527","https://openalex.org/W2005755983","https://openalex.org/W2028044548","https://openalex.org/W2099441085","https://openalex.org/W2115955659","https://openalex.org/W2122561468","https://openalex.org/W2127516259","https://openalex.org/W2133066324","https://openalex.org/W2250558677","https://openalex.org/W2275787575","https://openalex.org/W2296319761","https://openalex.org/W2388591084","https://openalex.org/W2521613767","https://openalex.org/W2537300304","https://openalex.org/W2546575425","https://openalex.org/W2560445289","https://openalex.org/W2560463610","https://openalex.org/W2581111877","https://openalex.org/W2676821827","https://openalex.org/W2781420132","https://openalex.org/W4250589301","https://openalex.org/W6601885396","https://openalex.org/W6691359174"],"related_works":["https://openalex.org/W2358905935","https://openalex.org/W3046241855","https://openalex.org/W2139875628","https://openalex.org/W1995427418","https://openalex.org/W70795231","https://openalex.org/W2788372305","https://openalex.org/W2040391781","https://openalex.org/W2538790291","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,8,22,26,30,40,53,57,77,81,92,113,120,125,129],"trajectory":[4,130],"tracking":[5,23,31,131],"control":[6,18],"of":[7,56,124],"nonholonomic":[9],"wheeled":[10],"mobile":[11],"robot":[12],"(NWMR)":[13],"using":[14],"nonlinear":[15],"model":[16],"predictive":[17],"(NMPC).":[19],"By":[20],"defining":[21],"error":[24],"in":[25,100],"NWMR's":[27],"local":[28],"coordinate,":[29],"problem":[32],"is":[33,44,50,73,88],"formulated":[34],"into":[35],"standard":[36,41],"NMPC":[37,42,58,101],"framework.":[38],"However,":[39],"algorithm":[43,59,72,127],"computationally":[45],"demanding":[46],"so":[47,96],"that":[48,97],"it":[49],"difficult":[51],"for":[52,80,128],"real-time":[54],"implementation":[55],"on":[60,91],"NWMR":[61,82],"systems.":[62],"To":[63,75],"overcome":[64],"this":[65],"limitation,":[66],"a":[67,84],"continuation/generalized":[68],"minimal":[69],"residual":[70],"(c/GMRES)":[71],"adopted.":[74],"handle":[76],"actuator":[78],"saturation":[79],"systems,":[83],"modified":[85],"c/GMRES":[86],"method":[87],"developed":[89],"based":[90],"logarithmic":[93],"barrier":[94],"function":[95],"inequality":[98],"constraints":[99],"can":[102],"be":[103],"handled.":[104],"Finally,":[105],"two":[106],"reference":[107],"trajectories":[108],"are":[109],"given":[110],"to":[111],"evaluate":[112],"proposed":[114,126],"algorithm.":[115],"The":[116],"simulation":[117],"results":[118],"show":[119],"efficiency":[121],"and":[122],"effectiveness":[123],"problem.":[132]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}