{"id":"https://openalex.org/W2545799808","doi":"https://doi.org/10.1109/isic.2003.1254675","title":"Sliding mode control for robot formations","display_name":"Sliding mode control for robot formations","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W2545799808","doi":"https://doi.org/10.1109/isic.2003.1254675","mag":"2545799808"},"language":"en","primary_location":{"id":"doi:10.1109/isic.2003.1254675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2003.1254675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 IEEE International Symposium on Intelligent Control ISIC-03","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/A5032248681","display_name":"Jos\u00e9 Rafael Garc\u00eda-S\u00e1nchez","orcid":"https://orcid.org/0000-0001-7036-0990"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Sanchez","raw_affiliation_strings":["MARHES Laboratory School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MARHES Laboratory School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA","institution_ids":["https://openalex.org/I115475287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Fierro","raw_affiliation_strings":["MARHES Laboratory School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MARHES Laboratory School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK, USA","institution_ids":["https://openalex.org/I115475287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I115475287"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"438","last_page":"443"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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":0.7727420330047607},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6929691433906555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6717914938926697},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.614397406578064},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5976881384849548},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5695620775222778},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5551787614822388},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5235233306884766},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5058872103691101},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4987220764160156},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.49253830313682556},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46818792819976807},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4594166874885559},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4032673239707947},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3590043783187866},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26193875074386597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1761234700679779},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0756593644618988},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06742769479751587}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7727420330047607},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6929691433906555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6717914938926697},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.614397406578064},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5976881384849548},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5695620775222778},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5551787614822388},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5235233306884766},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5058872103691101},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4987220764160156},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.49253830313682556},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46818792819976807},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4594166874885559},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4032673239707947},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3590043783187866},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26193875074386597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1761234700679779},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0756593644618988},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06742769479751587},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isic.2003.1254675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2003.1254675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 IEEE International Symposium on Intelligent Control ISIC-03","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":16,"referenced_works":["https://openalex.org/W1516289514","https://openalex.org/W1517023801","https://openalex.org/W1575037797","https://openalex.org/W2008280440","https://openalex.org/W2088363200","https://openalex.org/W2097346851","https://openalex.org/W2103171634","https://openalex.org/W2118419116","https://openalex.org/W2126731873","https://openalex.org/W2127516259","https://openalex.org/W2130647945","https://openalex.org/W2134266794","https://openalex.org/W2134537424","https://openalex.org/W2163431256","https://openalex.org/W2165413656","https://openalex.org/W6680022219"],"related_works":["https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2779381274","https://openalex.org/W2117379282","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W1973429430","https://openalex.org/W1989996768","https://openalex.org/W2354493725","https://openalex.org/W2117933783"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,11,17,22,30,35,56],"sliding":[6],"mode":[7],"controller":[8],"to":[9,28,54],"coordinate":[10],"team":[12,24],"of":[13,65,84],"nonholonomic":[14],"robots":[15,51],"in":[16],"leader-following":[18],"configuration.":[19],"We":[20,38],"consider":[21],"two-vehicle":[23],"that":[25,40,49],"is":[26,47],"required":[27],"follow":[29],"prescribed":[31],"trajectory":[32],"while":[33],"maintaining":[34],"desired":[36,57],"formation.":[37],"show":[39],"under":[41],"certain":[42],"reasonable":[43],"assumptions":[44],"the":[45,66,82],"formation":[46],"stable;":[48],"is,":[50],"are":[52,69],"able":[53],"maintain":[55],"distance":[58],"and":[59],"relative":[60],"bearing.":[61],"The":[62],"stability":[63],"properties":[64],"closed-loop":[67],"system":[68],"studied":[70],"using":[71],"Lyapunov":[72],"theory.":[73],"Numerical":[74],"simulations":[75],"as":[76,78],"well":[77],"experimental":[79],"results":[80],"verify":[81],"validity":[83],"our":[85],"approach.":[86]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
