{"id":"https://openalex.org/W2537167160","doi":"https://doi.org/10.1109/isic.2003.1254684","title":"Global output feedback stabilization of uncertain nonholonomic systems with applications to mobile robots","display_name":"Global output feedback stabilization of uncertain nonholonomic systems with applications to mobile robots","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W2537167160","doi":"https://doi.org/10.1109/isic.2003.1254684","mag":"2537167160"},"language":"en","primary_location":{"id":"doi:10.1109/isic.2003.1254684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2003.1254684","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":"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/A5096818038","display_name":"Subhadra Bhupathiraju","orcid":null},"institutions":[{"id":"https://openalex.org/I45438204","display_name":"The University of Texas at San Antonio","ror":"https://ror.org/01kd65564","country_code":"US","type":"education","lineage":["https://openalex.org/I45438204"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Subhadra Bhupathiraju","raw_affiliation_strings":["Department of Electrical Engineering, University of Texas, San Antonio, San Antonio, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Texas, San Antonio, San Antonio, TX, USA","institution_ids":["https://openalex.org/I45438204"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035125261","display_name":"Chunjiang Qian","orcid":"https://orcid.org/0000-0002-3897-8149"},"institutions":[{"id":"https://openalex.org/I45438204","display_name":"The University of Texas at San Antonio","ror":"https://ror.org/01kd65564","country_code":"US","type":"education","lineage":["https://openalex.org/I45438204"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chunjiang Qian","raw_affiliation_strings":["Department of Electrical Engineering, University of Texas, San Antonio, San Antonio, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Texas, San Antonio, San Antonio, TX, USA","institution_ids":["https://openalex.org/I45438204"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105986872","display_name":"Alex Rogers","orcid":null},"institutions":[{"id":"https://openalex.org/I45438204","display_name":"The University of Texas at San Antonio","ror":"https://ror.org/01kd65564","country_code":"US","type":"education","lineage":["https://openalex.org/I45438204"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.C. Rogers","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas, San Antonio, San Antonio, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas, San Antonio, San Antonio, TX, USA","institution_ids":["https://openalex.org/I45438204"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5096818038"],"corresponding_institution_ids":["https://openalex.org/I45438204"],"apc_list":null,"apc_paid":null,"fwci":1.6187,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87189947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"490","last_page":"495"},"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":0.9970999956130981,"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":0.9726999998092651,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8718178272247314},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7989363670349121},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7529144287109375},{"id":"https://openalex.org/keywords/output-feedback","display_name":"Output feedback","score":0.6095162034034729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5899355411529541},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5182811617851257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5099691152572632},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5045896768569946},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5003747940063477},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4328468143939972},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4143083691596985},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2160768210887909},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19883844256401062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1765330731868744}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8718178272247314},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7989363670349121},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7529144287109375},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.6095162034034729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5899355411529541},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5182811617851257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5099691152572632},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5045896768569946},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5003747940063477},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4328468143939972},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4143083691596985},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2160768210887909},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19883844256401062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1765330731868744},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isic.2003.1254684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2003.1254684","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W400586990","https://openalex.org/W1588195814","https://openalex.org/W1971044547","https://openalex.org/W2033699235","https://openalex.org/W2099761232","https://openalex.org/W2120944681","https://openalex.org/W2127988032","https://openalex.org/W2133661758","https://openalex.org/W2146328276","https://openalex.org/W2156759262","https://openalex.org/W2562706957","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W2366107444","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2135295311"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,20,53,60],"problem":[4],"of":[5,14,28,46,52],"global":[6],"stabilization":[7,63],"by":[8,58],"output":[9,21,36,61],"feedback":[10,22,37,62],"for":[11,64],"a":[12,34,43],"class":[13],"uncertain":[15,47],"nonholonomic":[16,48],"systems.":[17,49],"By":[18],"combining":[19],"domination":[23],"design":[24],"and":[25],"nonsmooth":[26],"change":[27],"coordinates":[29],"together,":[30],"we":[31],"explicitly":[32],"construct":[33],"simple":[35],"controller,":[38],"which":[39],"can":[40],"universally":[41],"stabilize":[42],"whole":[44],"family":[45],"The":[50],"effectiveness":[51],"proposed":[54],"approach":[55],"is":[56],"illustrated":[57],"solving":[59],"wheeled":[65],"mobile":[66],"robots.":[67]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
