{"id":"https://openalex.org/W3004209296","doi":"https://doi.org/10.1109/ieem44572.2019.8978759","title":"Tracking Control of a Skid Steered Mobile Robot with Adaptive Robust Second Order Sliding-Mode Controller","display_name":"Tracking Control of a Skid Steered Mobile Robot with Adaptive Robust Second Order Sliding-Mode Controller","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3004209296","doi":"https://doi.org/10.1109/ieem44572.2019.8978759","mag":"3004209296"},"language":"en","primary_location":{"id":"doi:10.1109/ieem44572.2019.8978759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieem44572.2019.8978759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Industrial Engineering and Engineering Management (IEEM)","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/A5073960128","display_name":"Ruidong Xi","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Ruidong Xi","raw_affiliation_strings":["Faculty of Science and Technology, University of Macau,Macau,China","Faculty of Science and Technology, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, University of Macau,Macau,China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018805700","display_name":"Lulu Tang","orcid":"https://orcid.org/0000-0003-0612-9780"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Lulu Tang","raw_affiliation_strings":["Faculty of Science and Technology, University of Macau,Macau,China","Faculty of Science and Technology, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, University of Macau,Macau,China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Faculty of Science and Technology, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073960128"],"corresponding_institution_ids":["https://openalex.org/I204512498"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52527585,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"293","last_page":"297"},"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":1.0,"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":1.0,"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":0.996999979019165,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.810936689376831},{"id":"https://openalex.org/keywords/skid","display_name":"Skid (aerodynamics)","score":0.7797209024429321},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6146196722984314},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5876274704933167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5768681168556213},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.564353346824646},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5065785646438599},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4787549376487732},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4390597343444824},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.434510737657547},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4311444163322449},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40733039379119873},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3145160973072052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2956833243370056},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2538520097732544},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2105153203010559},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06061524152755737},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.05982100963592529}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.810936689376831},{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.7797209024429321},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6146196722984314},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5876274704933167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5768681168556213},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.564353346824646},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5065785646438599},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4787549376487732},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4390597343444824},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.434510737657547},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4311444163322449},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40733039379119873},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3145160973072052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2956833243370056},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2538520097732544},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2105153203010559},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06061524152755737},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.05982100963592529},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ieem44572.2019.8978759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieem44572.2019.8978759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Industrial Engineering and Engineering Management (IEEM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.550000011920929,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1988572219","https://openalex.org/W2005970795","https://openalex.org/W2028044548","https://openalex.org/W2077676207","https://openalex.org/W2141429008","https://openalex.org/W2556604186","https://openalex.org/W2778649024","https://openalex.org/W2792377924","https://openalex.org/W6669657874"],"related_works":["https://openalex.org/W2088378294","https://openalex.org/W2110982267","https://openalex.org/W2136515323","https://openalex.org/W2033871898","https://openalex.org/W2188433315","https://openalex.org/W2089444305","https://openalex.org/W2107595457","https://openalex.org/W1979338660","https://openalex.org/W1975272188","https://openalex.org/W2074689751"],"abstract_inverted_index":{"Path":[0],"tracking":[1,23,48],"is":[2,35,44,77],"a":[3,31,38],"key":[4],"technology":[5],"for":[6,46],"mobile":[7,33],"robot":[8,34],"navigation.":[9],"This":[10],"paper":[11],"proposes":[12],"an":[13],"adaptive":[14,64],"robust":[15],"second-order":[16],"sliding":[17],"mode":[18],"controller":[19,43],"to":[20,52],"accomplish":[21],"the":[22,47,54,59,74,80,86,89,95],"mission.":[24],"First,":[25],"kinematics":[26],"and":[27,56,62],"dynamics":[28],"analysis":[29],"of":[30,73,88],"skid-steered":[32],"introduced.":[36],"Then,":[37],"second":[39],"order":[40,51],"sliding-mode":[41],"dynamic":[42],"designed":[45,90],"purpose.":[49],"In":[50],"improve":[53],"robustness":[55],"cope":[57],"with":[58],"system":[60,76],"uncertainties":[61],"disturbances,":[63],"rules":[65],"are":[66,92],"utilized":[67],"in":[68,94],"this":[69],"controller.":[70],"The":[71],"convergence":[72],"control":[75],"proved":[78],"by":[79],"Lyapunov":[81],"stability":[82],"theory.":[83],"At":[84],"last,":[85],"effectiveness":[87],"method":[91],"illustrated":[93],"simulation":[96],"result.":[97]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
