{"id":"https://openalex.org/W2138866754","doi":"https://doi.org/10.1109/iros.2003.1249701","title":"Tracking control of a nonholonomic mobile robot by integrating feedback and neural dynamics techniques","display_name":"Tracking control of a nonholonomic mobile robot by integrating feedback and neural dynamics techniques","publication_year":2004,"publication_date":"2004-03-22","ids":{"openalex":"https://openalex.org/W2138866754","doi":"https://doi.org/10.1109/iros.2003.1249701","mag":"2138866754"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5012658337","display_name":"Haowen Yang","orcid":"https://orcid.org/0009-0005-6375-9502"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Haowen Yang","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","Sch. of Eng., Guelph Univ., Ont., Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"Sch. of Eng., Guelph Univ., Ont., Canada#TAB#","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S.X. Yang","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","Sch. of Eng., Guelph Univ., Ont., Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"Sch. of Eng., Guelph Univ., Ont., Canada#TAB#","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088128501","display_name":"G.S. Mittal","orcid":"https://orcid.org/0000-0002-5440-9026"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G.S. Mittal","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","Sch. of Eng., Guelph Univ., Ont., Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, ONT, Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"Sch. of Eng., Guelph Univ., Ont., Canada#TAB#","institution_ids":["https://openalex.org/I79817857"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79817857"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"3522","last_page":"3527"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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":0.996399998664856,"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/control-theory","display_name":"Control theory (sociology)","score":0.7776280641555786},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.716984212398529},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7141826152801514},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6840548515319824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6127777099609375},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6050134897232056},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5607476234436035},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5244729518890381},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.519064724445343},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5054998397827148},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4776005744934082},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.46392688155174255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4565548300743103},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2833646535873413},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24636882543563843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24105989933013916},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10234686732292175}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7776280641555786},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.716984212398529},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7141826152801514},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6840548515319824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6127777099609375},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6050134897232056},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5607476234436035},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5244729518890381},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.519064724445343},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5054998397827148},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4776005744934082},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.46392688155174255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4565548300743103},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2833646535873413},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24636882543563843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24105989933013916},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10234686732292175},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1249701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W150625408","https://openalex.org/W1956276160","https://openalex.org/W1985940938","https://openalex.org/W1996773027","https://openalex.org/W2016078588","https://openalex.org/W2028044548","https://openalex.org/W2036125728","https://openalex.org/W2045960170","https://openalex.org/W2054908067","https://openalex.org/W2066783997","https://openalex.org/W2071140304","https://openalex.org/W2088363200","https://openalex.org/W2108508199","https://openalex.org/W2117321644","https://openalex.org/W2123700461","https://openalex.org/W2125484891","https://openalex.org/W2134704574","https://openalex.org/W2145060371","https://openalex.org/W2330093507","https://openalex.org/W2709704544"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W4287028639","https://openalex.org/W2779381274","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"have":[2],"been":[3],"one":[4],"of":[5,9,24,49,84,91,98],"the":[6,22,35,56,65,82,85,89,99],"challenging":[7],"topics":[8],"control":[10,86],"due":[11],"to":[12,59,80,94],"their":[13],"nonholonomic":[14],"property":[15],"and":[16,54,88,106],"restricted":[17],"mobility.":[18],"This":[19],"paper":[20],"presents":[21],"design":[23],"a":[25,30,40],"novel":[26],"tracking":[27,73,92],"controller":[28,46,101],"for":[29],"mobile":[31,57],"robot":[32,58],"by":[33,104],"integrating":[34],"neural":[36],"dynamics":[37],"model":[38],"into":[39],"conventional":[41],"feedback":[42],"controller.":[43],"The":[44,96],"proposed":[45,100],"is":[47,78,102],"capable":[48],"generating":[50],"real-time":[51],"smooth":[52],"velocities,":[53],"driving":[55],"track":[60],"desired":[61],"trajectories.":[62],"It":[63],"resolves":[64],"speed":[66],"jump":[67],"problem":[68],"existing":[69],"in":[70],"some":[71],"previous":[72],"controllers.":[74],"Lyapunov":[75],"stability":[76,83],"theory":[77],"used":[79],"prove":[81],"system":[87],"convergence":[90],"errors":[93],"zero.":[95],"effectiveness":[97],"demonstrated":[103],"simulation":[105],"comparison":[107],"studies.":[108]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
