{"id":"https://openalex.org/W4417438669","doi":"https://doi.org/10.1109/jiot.2025.3644857","title":"Adaptive Prescribed-Time Formation Control for Nonholonomic Mobile Robots With Uncertainties","display_name":"Adaptive Prescribed-Time Formation Control for Nonholonomic Mobile Robots With Uncertainties","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W4417438669","doi":"https://doi.org/10.1109/jiot.2025.3644857"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3644857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3644857","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5041667917","display_name":"Peng Wu","orcid":"https://orcid.org/0000-0002-7175-6679"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanning Peng","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047316821","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0003-4936-8255"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["College of Artificial Intelligence and Automation, Hohai University, Changzhou, China","College of Artifcial Intelligence and Automation, Hohai University, Changzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4936-8255","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Automation, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]},{"raw_affiliation_string":"College of Artifcial Intelligence and Automation, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028417807","display_name":"Wencheng Zou","orcid":"https://orcid.org/0000-0001-8324-2600"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wencheng Zou","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8324-2600","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049343299","display_name":"Zhengrong Xiang","orcid":"https://orcid.org/0000-0002-0869-5471"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengrong Xiang","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-0869-5471","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40644888,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"5","first_page":"9365","last_page":"9374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.48330000042915344,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.48330000042915344,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.46369999647140503,"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":0.021700000390410423,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8039000034332275},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7932999730110168},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7263000011444092},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5242999792098999},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5156999826431274},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4675999879837036},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4560999870300293},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.45509999990463257}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8039000034332275},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7932999730110168},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7263000011444092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6678000092506409},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5242999792098999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5156999826431274},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47519999742507935},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4675999879837036},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4560999870300293},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.45509999990463257},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4221000075340271},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4081000089645386},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3174000084400177},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31029999256134033},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3066999912261963},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3046000003814697},{"id":"https://openalex.org/C2779791154","wikidata":"https://www.wikidata.org/wiki/Q258040","display_name":"Model transformation","level":3,"score":0.28290000557899475},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.2703999876976013},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3644857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3644857","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2645191704","display_name":null,"funder_award_id":"B250201279","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5692982924","display_name":null,"funder_award_id":"62373191","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7814818057","display_name":null,"funder_award_id":"62303224","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multiple":[0],"mobile":[1,29,46,125],"robot":[2],"systems,":[3],"as":[4,85],"a":[5,52,112],"dynamic":[6],"type":[7],"of":[8,11,27,44,94,123,153],"the":[9,22,37,41,45,59,86,91,102,124,131,135,140,151,154],"Internet":[10],"Things":[12],"(IoT),":[13],"have":[14],"been":[15],"gaining":[16],"widespread":[17],"attention.":[18],"In":[19,69],"this":[20],"article,":[21],"prescribed-time":[23],"(PT)":[24],"formation":[25,136],"control":[26,105],"nonholonomic":[28,42,61],"robots":[30,47,126],"(NMRs)":[31],"with":[32,82],"uncertainties":[33],"is":[34,55,116],"investigated":[35],"under":[36],"leader-follower":[38],"architecture.":[39],"First,":[40],"constraints":[43],"are":[48,78,147],"sufficiently":[49],"considered,":[50],"and":[51,75,108,134,145],"transformation":[53],"method":[54],"presented":[56],"to":[57,80,118,149],"convert":[58],"original":[60],"system":[62],"into":[63],"an":[64],"easy-to-handle":[65],"Euler-Lagrange":[66],"(EL)":[67],"system.":[68],"addition,":[70],"fuzzy":[71],"logic":[72],"systems":[73],"(FLSs)":[74],"adaptive":[76],"techniques":[77],"employed":[79],"deal":[81],"uncertainties,":[83],"such":[84],"damping":[87],"matrix,":[88],"so":[89],"that":[90,120],"negative":[92],"effects":[93],"approximation":[95],"errors":[96,137],"can":[97,127],"be":[98,128],"eliminated.":[99],"By":[100],"applying":[101],"sliding":[103,113,132],"mode":[104,114],"(SMC)":[106],"technique":[107],"PT":[109],"stability":[110],"theory,":[111],"protocol":[115],"proposed":[117,155],"ensure":[119],"all":[121],"states":[122],"driven":[129],"onto":[130],"surface":[133],"converge":[138],"within":[139],"prescribed":[141],"time.":[142],"Finally,":[143],"simulations":[144],"experiments":[146],"conducted":[148],"demonstrate":[150],"effectiveness":[152],"method.":[156]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-17T00:00:00"}