{"id":"https://openalex.org/W2737275693","doi":"https://doi.org/10.1109/med.2017.7984276","title":"Adaptive trajectory tracking controller for planar vehicles","display_name":"Adaptive trajectory tracking controller for planar vehicles","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2737275693","doi":"https://doi.org/10.1109/med.2017.7984276","mag":"2737275693"},"language":"en","primary_location":{"id":"doi:10.1109/med.2017.7984276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2017.7984276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 25th Mediterranean Conference on Control and Automation (MED)","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/A5017283339","display_name":"Przemys\u0142aw Herman","orcid":"https://orcid.org/0000-0002-8139-0236"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Przemyslaw Herman","raw_affiliation_strings":["Przernyslaw Herman is with Institute of Automation and Robotics Poznan, University of Technology, Poznan, Poland"],"affiliations":[{"raw_affiliation_string":"Przernyslaw Herman is with Institute of Automation and Robotics Poznan, University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5017283339"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.2012,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.51110875,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1170","last_page":"1175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8379064202308655},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.689481258392334},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6461231708526611},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6437729597091675},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5758638381958008},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5587944388389587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5148626565933228},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5062984228134155},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4780046045780182},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4696468710899353},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.45828619599342346},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4377760887145996},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4106789529323578},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.22282099723815918},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17237842082977295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16160857677459717},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08954471349716187},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.07752284407615662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07252144813537598}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8379064202308655},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.689481258392334},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6461231708526611},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6437729597091675},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5758638381958008},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5587944388389587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5148626565933228},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5062984228134155},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4780046045780182},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4696468710899353},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.45828619599342346},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4377760887145996},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4106789529323578},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.22282099723815918},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17237842082977295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16160857677459717},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08954471349716187},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.07752284407615662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07252144813537598},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2017.7984276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2017.7984276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 25th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.6800000071525574,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W94566284","https://openalex.org/W1560976374","https://openalex.org/W1590684588","https://openalex.org/W1994997981","https://openalex.org/W2000062325","https://openalex.org/W2035240037","https://openalex.org/W2060827639","https://openalex.org/W2062277490","https://openalex.org/W2124296081","https://openalex.org/W2125838011","https://openalex.org/W2129045348","https://openalex.org/W2133188304","https://openalex.org/W2192028265","https://openalex.org/W2205925794","https://openalex.org/W2344261455","https://openalex.org/W2505012551"],"related_works":["https://openalex.org/W3009256916","https://openalex.org/W292582153","https://openalex.org/W4234131606","https://openalex.org/W1974141195","https://openalex.org/W1934622834","https://openalex.org/W2372856383","https://openalex.org/W2015036175","https://openalex.org/W1968954906","https://openalex.org/W2210722882","https://openalex.org/W2005085248"],"abstract_inverted_index":{"In":[0],"the":[1,3,22,39,47,57,60,63,69,79,86,112,117,121,124],"paper":[2],"problem":[4],"of":[5,31,46,59,78,123],"trajectory":[6],"tracking":[7],"control":[8,17,93,113],"for":[9],"planar":[10],"vehicles":[11],"is":[12,19,27,49,66,82,98,127],"considered.":[13],"The":[14,25,43,76,95,108],"proposed":[15],"adaptive":[16,92],"algorithm":[18,114],"realized":[20],"using":[21],"earth-frame":[23],"representation.":[24],"controller":[26],"expressed":[28],"in":[29],"terms":[30],"some":[32],"generalized":[33],"velocity":[34],"components":[35],"(GVCs)":[36],"arising":[37],"from":[38],"inertia":[40],"matrix":[41,53],"decomposition.":[42],"main":[44],"feature":[45],"regulator":[48],"that":[50,111],"its":[51],"gain":[52],"always":[54],"depends":[55],"on":[56,85,100],"dynamics":[58],"vehicle.":[61],"Consequently,":[62],"system":[64,81],"response":[65],"fast":[67],"and":[68,90],"errors":[70,118],"convergence":[71,119],"can":[72],"be":[73],"quickly":[74],"achieved.":[75],"stability":[77],"closed-loop":[80],"proved":[83],"based":[84],"Lyapunov's":[87],"direct":[88],"method":[89],"an":[91],"technique.":[94],"simulation":[96],"experiment":[97],"performed":[99],"a":[101],"3":[102],"DOF":[103],"underwater":[104],"vehicle":[105],"moving":[106],"horizontally.":[107],"results":[109],"show":[110],"works":[115],"correctly":[116],"to":[120],"neighborhood":[122],"point":[125],"zero":[126],"ensured.":[128]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}