{"id":"https://openalex.org/W2064937406","doi":"https://doi.org/10.1109/mfi.2014.6997679","title":"Nonlinear model predictive control for WMR with input constraint","display_name":"Nonlinear model predictive control for WMR with input constraint","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2064937406","doi":"https://doi.org/10.1109/mfi.2014.6997679","mag":"2064937406"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2014.6997679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2014.6997679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)","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/A5101619802","display_name":"Rong Li","orcid":"https://orcid.org/0009-0000-9293-0923"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Rong Li","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, China, 210016"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, China, 210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024678101","display_name":"Mou Chen","orcid":"https://orcid.org/0000-0001-7158-8575"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mou Chen","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, China, 210016"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, China, 210016","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036993013","display_name":"Qingxian Wu","orcid":"https://orcid.org/0000-0002-9271-4988"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxian Wu","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, China, 210016"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, China, 210016","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101619802"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.4057,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.69594502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"39","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973000288009644,"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":0.9973000288009644,"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":0.9972000122070312,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.996999979019165,"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/control-theory","display_name":"Control theory (sociology)","score":0.8703802824020386},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8589534163475037},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.7328488230705261},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6561071872711182},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6542035937309265},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6170239448547363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4940815269947052},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4589371085166931},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4454381465911865},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41879069805145264},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41500258445739746},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35503339767456055},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30335479974746704},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2418363094329834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2280176281929016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22012314200401306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10252824425697327}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8703802824020386},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8589534163475037},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.7328488230705261},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6561071872711182},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6542035937309265},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6170239448547363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4940815269947052},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4589371085166931},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4454381465911865},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41879069805145264},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41500258445739746},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35503339767456055},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30335479974746704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2418363094329834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2280176281929016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22012314200401306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10252824425697327},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi.2014.6997679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2014.6997679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1976754515","https://openalex.org/W1978956894","https://openalex.org/W1986725814","https://openalex.org/W1991686554","https://openalex.org/W1991929271","https://openalex.org/W2015290589","https://openalex.org/W2018397275","https://openalex.org/W2021207136","https://openalex.org/W2036980019","https://openalex.org/W2045656494","https://openalex.org/W2049933349","https://openalex.org/W2054908067","https://openalex.org/W2062408425","https://openalex.org/W2068991880","https://openalex.org/W2085462128","https://openalex.org/W2086000159","https://openalex.org/W2090777475","https://openalex.org/W2099127171","https://openalex.org/W2100614884","https://openalex.org/W2101576084","https://openalex.org/W2122561468","https://openalex.org/W2129350414","https://openalex.org/W2142435133","https://openalex.org/W2158742422","https://openalex.org/W2163290424"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2317650444","https://openalex.org/W2913529325"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,15,22,37,49,54,70,73,77],"tracking":[4,23],"control":[5,24,32,43,63,82],"problem":[6,25],"is":[7,34,45],"investigated":[8],"for":[9,84],"wheeled":[10],"mobile":[11],"robot":[12],"systems":[13],"in":[14],"presence":[16],"of":[17,56,76],"actuator":[18],"saturation.":[19],"To":[20],"handle":[21],"with":[26,86],"input":[27,87],"saturation,":[28],"a":[29,57],"model":[30,51,61,80],"predictive":[31,62,81],"scheme":[33,83],"developed":[35,78],"via":[36],"feedback":[38,41],"linearization.":[39],"The":[40],"linearization":[42],"law":[44],"designed":[46],"to":[47,68],"linearize":[48],"nonlinear":[50,79],"which":[52],"allows":[53],"application":[55],"discrete":[58],"time":[59],"linear":[60],"algorithm.":[64],"Simulations":[65],"are":[66],"provided":[67],"illustrate":[69],"effectiveness":[71],"and":[72],"improved":[74],"performance":[75],"WMR":[85],"constraint.":[88]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}