{"id":"https://openalex.org/W4400904835","doi":"https://doi.org/10.1109/lra.2024.3432354","title":"Discrete Time Trajectory Tracking Control for Four-Mecanum-Wheeled Mobile Vehicle: An Variable Gain ADRC Method","display_name":"Discrete Time Trajectory Tracking Control for Four-Mecanum-Wheeled Mobile Vehicle: An Variable Gain ADRC Method","publication_year":2024,"publication_date":"2024-07-23","ids":{"openalex":"https://openalex.org/W4400904835","doi":"https://doi.org/10.1109/lra.2024.3432354"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3432354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3432354","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5061590300","display_name":"Sihang Li","orcid":"https://orcid.org/0000-0002-1325-3379"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sihang Li","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1325-3379","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726452","display_name":"Jinhui Zhang","orcid":"https://orcid.org/0000-0002-2405-894X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhui Zhang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2405-894X","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072556362","display_name":"Shaomeng Gu","orcid":"https://orcid.org/0000-0002-6942-1386"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaomeng Gu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6942-1386","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.5542,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.81130583,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"9","first_page":"7771","last_page":"7778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9940000176429749,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9908000230789185,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6651463508605957},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6645020246505737},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5870900750160217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47854334115982056},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4727921187877655},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42633652687072754},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17621693015098572},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15159207582473755},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.041809260845184326},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.03783467411994934}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6651463508605957},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6645020246505737},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5870900750160217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47854334115982056},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4727921187877655},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42633652687072754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17621693015098572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15159207582473755},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.041809260845184326},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.03783467411994934},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3432354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3432354","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G5535283421","display_name":null,"funder_award_id":"U22A2048","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1516127453","https://openalex.org/W1533435918","https://openalex.org/W2090963365","https://openalex.org/W2104302353","https://openalex.org/W2515890114","https://openalex.org/W2611815608","https://openalex.org/W2774391350","https://openalex.org/W2783975076","https://openalex.org/W2790693807","https://openalex.org/W2894834089","https://openalex.org/W2920966613","https://openalex.org/W2947895051","https://openalex.org/W2988590957","https://openalex.org/W2989313558","https://openalex.org/W3026560849","https://openalex.org/W3126540242","https://openalex.org/W3149855516","https://openalex.org/W4200406375","https://openalex.org/W4242542686","https://openalex.org/W4283740054","https://openalex.org/W4285891088","https://openalex.org/W4311711273","https://openalex.org/W4311780239","https://openalex.org/W4321483985","https://openalex.org/W4386142399","https://openalex.org/W4394659040","https://openalex.org/W6635597049","https://openalex.org/W6755568405","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"a":[3,21,32,40,59],"novel":[4],"discrete":[5,27,33,41],"active":[6],"disturbance":[7,44],"rejection":[8,45],"control":[9],"(ADRC)":[10],"method":[11,29,123],"is":[12,96,124],"proposed":[13,108,122],"to":[14,57],"solve":[15],"the":[16,72,82,90,100,107,111,118,121],"trajectory":[17],"tracking":[18],"problem":[19],"for":[20],"four-mecanum-wheeled":[22],"mobile":[23],"vehicle":[24],"(FMWMV).":[25],"The":[26,47,67,86,103],"ADRC":[28,84],"consists":[30],"of":[31,89,106,120],"variable-gain":[34],"extended":[35],"state":[36],"observer":[37],"(VGESO)":[38],"and":[39,55,63,77,110,128],"variable":[42,68,91],"gain":[43,92],"controller.":[46],"error-driven":[48],"gains":[49,69],"are":[50,114],"respectively":[51],"incorporated":[52],"in":[53,81,94],"VGESO":[54,95,109],"controller":[56],"achieve":[58],"satisfied":[60],"transient":[61,75],"performance":[62,76],"small":[64],"steady-state":[65,78],"error.":[66],"can":[70],"alleviate":[71],"trade-off":[73],"between":[74],"error":[79],"existing":[80],"linear":[83],"method.":[85],"specific":[87],"range":[88],"function":[93],"given,":[97],"which":[98],"helps":[99],"practical":[101],"implementation.":[102],"convergence":[104],"analyses":[105],"close-loop":[112],"system":[113],"also":[115],"conducted.":[116],"Finally,":[117],"effectiveness":[119],"verified":[125],"via":[126],"simulation":[127],"experiment":[129],"results.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
