{"id":"https://openalex.org/W3027042638","doi":"https://doi.org/10.1109/med48518.2020.9183255","title":"Trajectory tracking control for an AutoNOMO vehicle using a decoupling approach","display_name":"Trajectory tracking control for an AutoNOMO vehicle using a decoupling approach","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3027042638","doi":"https://doi.org/10.1109/med48518.2020.9183255","mag":"3027042638"},"language":"en","primary_location":{"id":"doi:10.1109/med48518.2020.9183255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9183255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","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/A5017249203","display_name":"Adonai Rosas-Vilchis","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134596","display_name":"Universidad de Tijuana","ror":"https://ror.org/03qzc6q48","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210134596"]},{"id":"https://openalex.org/I4400573195","display_name":"Universidad Tecnologica de Tijuana","ror":"https://ror.org/03n7grz74","country_code":null,"type":"education","lineage":["https://openalex.org/I4400573195"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Adonai Rosas-Vilchis","raw_affiliation_strings":["Universidad Tecnol\u00f3gica de Tijuana, Tijuana, Baja California, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Tecnol\u00f3gica de Tijuana, Tijuana, Baja California, M\u00e9xico","institution_ids":["https://openalex.org/I4210134596","https://openalex.org/I4400573195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045301568","display_name":"Alejandra Ferreira de Loza","orcid":"https://orcid.org/0000-0003-1189-0857"},"institutions":[{"id":"https://openalex.org/I4210163111","display_name":"Secretar\u00eda de Ciencia, Humanidades, Tecnolog\u00eda e Innovaci\u00f3n","ror":"https://ror.org/059ex5q34","country_code":"MX","type":"government","lineage":["https://openalex.org/I4210163111"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Alejandra Ferreira de Loza","raw_affiliation_strings":["C\u00e1tedras CONACYT, Ciudad de M\u00e9xico, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"C\u00e1tedras CONACYT, Ciudad de M\u00e9xico, M\u00e9xico","institution_ids":["https://openalex.org/I4210163111"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091082682","display_name":"Luis T. Aguilar","orcid":"https://orcid.org/0000-0001-6603-6485"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luis T. Aguilar","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, C.P. 22435, Tijuana, Baja California, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, C.P. 22435, Tijuana, Baja California, M\u00e9xico","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088862780","display_name":"J\u00e9r\u00f4me Cieslak","orcid":"https://orcid.org/0000-0002-7166-1880"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210157089","display_name":"Laboratoire de l'Int\u00e9gration du Mat\u00e9riau au Syst\u00e8me","ror":"https://ror.org/04nabhy78","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210091158","https://openalex.org/I4210095849","https://openalex.org/I4210157089","https://openalex.org/I4210160189"]},{"id":"https://openalex.org/I4210160189","display_name":"Institut Polytechnique de Bordeaux","ror":"https://ror.org/054qv7y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210160189"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jerome Cieslak","raw_affiliation_strings":["Univ. Bordeaux, CNRS, Bordeaux INP, IMS, UMR 5218, Talence, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Bordeaux, CNRS, Bordeaux INP, IMS, UMR 5218, Talence, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210157089","https://openalex.org/I4210160189"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108166967","display_name":"David Henry","orcid":"https://orcid.org/0000-0001-7169-7704"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I15057530","display_name":"Universit\u00e9 de Bordeaux","ror":"https://ror.org/057qpr032","country_code":"FR","type":"education","lineage":["https://openalex.org/I15057530"]},{"id":"https://openalex.org/I4210157089","display_name":"Laboratoire de l'Int\u00e9gration du Mat\u00e9riau au Syst\u00e8me","ror":"https://ror.org/04nabhy78","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210091158","https://openalex.org/I4210095849","https://openalex.org/I4210157089","https://openalex.org/I4210160189"]},{"id":"https://openalex.org/I4210160189","display_name":"Institut Polytechnique de Bordeaux","ror":"https://ror.org/054qv7y42","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210160189"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Henry","raw_affiliation_strings":["Univ. Bordeaux, CNRS, Bordeaux INP, IMS, UMR 5218, Talence, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Bordeaux, CNRS, Bordeaux INP, IMS, UMR 5218, Talence, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I15057530","https://openalex.org/I4210157089","https://openalex.org/I4210160189"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033991197","display_name":"Oscar Montiel","orcid":"https://orcid.org/0000-0002-7060-9204"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oscar Montiel-Ross","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, C.P. 22435, Tijuana, Baja California, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, C.P. 22435, Tijuana, Baja California, M\u00e9xico","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4709,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.88919853,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"375","last_page":"380"},"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":1.0,"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":1.0,"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":0.9987999796867371,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9950000047683716,"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/backstepping","display_name":"Backstepping","score":0.725600004196167},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7181792259216309},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6565032005310059},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6234821081161499},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5683119297027588},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5291987657546997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49172070622444153},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.48493650555610657},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41738325357437134},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37295985221862793},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3231516480445862},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.24733904004096985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24513813853263855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19410169124603271},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.19252127408981323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18772250413894653},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16385895013809204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1580601930618286},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07189390063285828}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.725600004196167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7181792259216309},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6565032005310059},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6234821081161499},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5683119297027588},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5291987657546997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49172070622444153},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.48493650555610657},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41738325357437134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37295985221862793},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3231516480445862},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.24733904004096985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24513813853263855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19410169124603271},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.19252127408981323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18772250413894653},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16385895013809204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1580601930618286},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07189390063285828},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med48518.2020.9183255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9183255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","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":15,"referenced_works":["https://openalex.org/W1558979968","https://openalex.org/W1977163885","https://openalex.org/W1996150584","https://openalex.org/W2015071123","https://openalex.org/W2077537048","https://openalex.org/W2090167557","https://openalex.org/W2102620728","https://openalex.org/W2133361850","https://openalex.org/W2329692933","https://openalex.org/W2566347526","https://openalex.org/W2743310225","https://openalex.org/W2789778114","https://openalex.org/W2899251323","https://openalex.org/W3011389446","https://openalex.org/W6649551674"],"related_works":["https://openalex.org/W2394227063","https://openalex.org/W1975855728","https://openalex.org/W1020620338","https://openalex.org/W1036286070","https://openalex.org/W2372486955","https://openalex.org/W2138013202","https://openalex.org/W4385733071","https://openalex.org/W2247326821","https://openalex.org/W2966740236","https://openalex.org/W2612035765"],"abstract_inverted_index":{"The":[0,11,101],"paper":[1],"deals":[2],"with":[3],"the":[4,17,28,32,41,47,60,77,83,89,98,104,110,117,120],"tracking":[5,18,49],"problem":[6,12],"of":[7,20,31,103,119],"an":[8],"AutoNOMO":[9],"vehicle.":[10],"statement":[13],"is":[14,34,51,73,107],"similar":[15],"to":[16,75],"control":[19],"a":[21,37,44,54,93],"nonholonomic":[22],"car-like":[23],"robot.":[24],"To":[25],"this":[26,58],"aim,":[27],"kinematic":[29],"model":[30],"vehicle":[33],"considered.":[35],"Thus,":[36],"local":[38],"transformation":[39],"takes":[40],"system":[42,61,106],"into":[43,53,65],"chained-form.":[45],"Later,":[46],"error":[48],"dynamics":[50],"transformed":[52],"triangular-like":[55],"form.":[56],"In":[57,81],"way,":[59],"may":[62],"be":[63],"divided":[64],"two":[66],"interconnected":[67],"sub-systems.":[68],"A":[69],"homogeneous":[70],"finite-time":[71],"controller":[72],"proposed":[74],"stabilize":[76],"Cartesian":[78],"coordinate":[79],"x.":[80],"consequence,":[82],"effects":[84],"x":[85],"are":[86],"decoupled":[87],"from":[88],"remained":[90],"dynamics.":[91],"Then,":[92],"recursive":[94],"backstepping-like":[95],"methodology":[96],"stabilizes":[97],"remaining":[99],"coordinates.":[100],"stability":[102],"closed-loop":[105],"analyzed":[108],"using":[109],"Lyapunov":[111],"theory.":[112],"Simulations":[113],"and":[114],"experiments":[115],"illustrate":[116],"feasibility":[118],"approach.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
