{"id":"https://openalex.org/W3197950446","doi":"https://doi.org/10.1109/rcar52367.2021.9517421","title":"Kinematic control of wheeled mobile manipulators subject to inherent physical constraints and noise disturbances","display_name":"Kinematic control of wheeled mobile manipulators subject to inherent physical constraints and noise disturbances","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3197950446","doi":"https://doi.org/10.1109/rcar52367.2021.9517421","mag":"3197950446"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5029719402","display_name":"Xiaoxiao Li","orcid":"https://orcid.org/0000-0002-3789-2271"},"institutions":[{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxiao Li","raw_affiliation_strings":["Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, Guangdong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, Guangdong, P. R. China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073609666","display_name":"Zhihao Xu","orcid":"https://orcid.org/0000-0003-1344-9731"},"institutions":[{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihao Xu","raw_affiliation_strings":["Foshan Tri-Co Intelligent Robot Technology Co., Ltd","Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, Guangdong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Foshan Tri-Co Intelligent Robot Technology Co., Ltd","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, Guangdong, P. R. China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424064","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0001-8316-5289"},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["School of Engineering, Swansea University, Swansea, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Swansea University, Swansea, United Kingdom","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034408436","display_name":"Kanyang Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kanyang Jiang","raw_affiliation_strings":["School of Engineering, Swansea University, Swansea, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Swansea University, Swansea, United Kingdom","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101588754","display_name":"Xuefeng Zhou","orcid":"https://orcid.org/0000-0003-1642-2059"},"institutions":[{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefeng Zhou","raw_affiliation_strings":["Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, Guangdong, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, Guangdong, P. R. China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006956791","display_name":"Li Jiang","orcid":"https://orcid.org/0000-0003-1740-5525"},"institutions":[{"id":"https://openalex.org/I4210151615","display_name":"Wuyi University","ror":"https://ror.org/0488wz367","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151615"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Jiang","raw_affiliation_strings":["School of Intelligent Manufacturing, Wuyi University, Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Manufacturing, Wuyi University, Guangdong, China","institution_ids":["https://openalex.org/I4210151615"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2777,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55034428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"417","last_page":"422"},"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":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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7737859487533569},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5865519642829895},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5730907917022705},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5678898096084595},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5673933625221252},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5650322437286377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5445012450218201},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5259861350059509},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4972100555896759},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45018258690834045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39665549993515015},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32810044288635254},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.29054152965545654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2607218623161316},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2385566234588623},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19529688358306885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0910407304763794}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7737859487533569},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5865519642829895},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5730907917022705},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5678898096084595},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5673933625221252},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5650322437286377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5445012450218201},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5259861350059509},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4972100555896759},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45018258690834045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39665549993515015},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32810044288635254},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29054152965545654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2607218623161316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2385566234588623},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19529688358306885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0910407304763794},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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":0.4399999976158142}],"awards":[{"id":"https://openalex.org/G7698981535","display_name":null,"funder_award_id":"62003102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8231047092","display_name":null,"funder_award_id":"2020A1515010631","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1983931525","https://openalex.org/W2051155494","https://openalex.org/W2069612046","https://openalex.org/W2091813125","https://openalex.org/W2097120474","https://openalex.org/W2290966563","https://openalex.org/W2565210018","https://openalex.org/W2888368583","https://openalex.org/W2899794371","https://openalex.org/W2952499326","https://openalex.org/W2983370675","https://openalex.org/W3008038390"],"related_works":["https://openalex.org/W2186864281","https://openalex.org/W4255427455","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W1966025497","https://openalex.org/W4360995134","https://openalex.org/W3023605104","https://openalex.org/W2039473718"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,19],"the":[4,20,39,50,73,78,98,102,106,121,137],"kinematic":[5],"control":[6,26,129],"of":[7,101,120,136],"wheeled":[8],"mobile":[9],"manipulator":[10],"with":[11,83],"physical":[12,33,54],"limits":[13,55],"and":[14,32,58,77,127,140],"external":[15],"noise":[16,110],"disturbances.":[17,111],"Based":[18],"quadratic":[21],"program,":[22],"a":[23],"hybrid":[24],"multi-objective":[25],"(HMOC)":[27],"scheme":[28,124,139],"incorporating":[29],"path":[30,40],"following":[31,41,105],"constraints'":[34],"compliance":[35],"is":[36,43,81,94,114],"proposed,":[37],"where":[38],"task":[42],"formulated":[44],"as":[45,61,116],"an":[46,62,84,117],"equality":[47],"constraint.":[48,64],"With":[49,132],"velocity":[51],"escape":[52],"method,":[53],"are":[56,143],"incorporated":[57],"totally":[59],"described":[60],"inequality":[63],"An":[65],"integration-enhanced":[66],"state":[67],"feedback":[68],"strategy":[69],"considering":[70],"derivation":[71],"between":[72],"robot's":[74],"real":[75],"position":[76,80],"desired":[79,107],"designed":[82],"aim":[85],"at":[86],"achieving":[87],"anti-noise":[88],"capability":[89],"for":[90],"HMOC":[91,123,138],"scheme,":[92],"which":[93],"shown":[95],"to":[96,125],"improve":[97],"tracking":[99],"performance":[100],"robot":[103],"in":[104],"trajectory":[108],"under":[109],"Lagrangian-based":[112,141],"controller":[113,142],"constructed":[115],"online":[118],"solver":[119],"resultant":[122],"output":[126],"update":[128],"variables":[130],"iteratively.":[131],"numerical":[133],"simulation,":[134],"efficiency":[135],"validated.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
