{"id":"https://openalex.org/W2116346275","doi":"https://doi.org/10.1109/robio.2010.5723450","title":"Geometry stabilizing control of the extended nonholonomic double intergrator","display_name":"Geometry stabilizing control of the extended nonholonomic double intergrator","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2116346275","doi":"https://doi.org/10.1109/robio.2010.5723450","mag":"2116346275"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5100772740","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-1312-9527"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yan Peng","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, State Key Laboratory of Robotics, Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, State Key Laboratory of Robotics, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347933","display_name":"Mei Liu","orcid":"https://orcid.org/0000-0003-0078-7029"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Liu","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073237865","display_name":"Zhijie Tang","orcid":"https://orcid.org/0000-0003-1793-3299"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijie Tang","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086702173","display_name":"Shaorong Xie","orcid":"https://orcid.org/0000-0002-8016-9310"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaorong Xie","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, State Key Laboratory of Robotics, Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, State Key Laboratory of Robotics, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003071055","display_name":"Jun Luo","orcid":"https://orcid.org/0000-0003-4475-2338"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Luo","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","School of Mechatronics Engineering and Automation, Shanghai University, 200072,China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Shanghai University, 200072,China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100772740"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":null,"apc_paid":null,"fwci":0.7226,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78490992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"e","issue":null,"first_page":"926","last_page":"931"},"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":0.9850000143051147,"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":0.9812999963760376,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.6750057935714722},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6634566783905029},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6056063175201416},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.5468579530715942},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.4488794505596161},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4297953248023987},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4273138642311096},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.41693252325057983},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38264912366867065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.27940797805786133},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15365266799926758},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.14643028378486633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13045069575309753},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1121169924736023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10693314671516418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09758597612380981},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0894216001033783}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6750057935714722},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6634566783905029},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6056063175201416},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.5468579530715942},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.4488794505596161},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4297953248023987},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4273138642311096},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.41693252325057983},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38264912366867065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.27940797805786133},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15365266799926758},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.14643028378486633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13045069575309753},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1121169924736023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10693314671516418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09758597612380981},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0894216001033783},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W9639216","https://openalex.org/W1677802131","https://openalex.org/W1689871417","https://openalex.org/W1918546908","https://openalex.org/W1971044547","https://openalex.org/W1983764986","https://openalex.org/W2035838143","https://openalex.org/W2050086884","https://openalex.org/W2099388669","https://openalex.org/W2099761232","https://openalex.org/W2115404603","https://openalex.org/W2117885432","https://openalex.org/W2120851686","https://openalex.org/W2120944681","https://openalex.org/W2122513851","https://openalex.org/W2127988032","https://openalex.org/W2128592712","https://openalex.org/W2129496494","https://openalex.org/W2133661758","https://openalex.org/W2134557472","https://openalex.org/W2142106021","https://openalex.org/W2164998959","https://openalex.org/W2167709376","https://openalex.org/W2566554791","https://openalex.org/W2732534312","https://openalex.org/W6600425503","https://openalex.org/W6642962755","https://openalex.org/W6681002296"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W4394650907","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2132884191","https://openalex.org/W3183949792","https://openalex.org/W2748166239","https://openalex.org/W1967548315"],"abstract_inverted_index":{"The":[0,41],"extended":[1],"nonholonomic":[2],"double":[3],"intergrator":[4],"(ENDI)":[5],"cannot":[6],"be":[7,75],"asymptotically":[8],"stabilized":[9],"by":[10,81],"a":[11,26,50,55,95],"continuous":[12,28,56],"and":[13,108],"time-invariant":[14],"feedback":[15],"controller":[16],"since":[17],"it":[18],"violates":[19],"the":[20,35,39,67,71,82,86,92,106,111],"Brockett's":[21],"condition.":[22],"In":[23],"this":[24],"paper,":[25],"new":[27],"control":[29,59],"scheme":[30],"is":[31,47,61],"proposed":[32,83,112],"to":[33,49,104],"stabilize":[34],"ENDI":[36,45,72],"system":[37,46],"with":[38],"drift.":[40],"dynamics":[42,93],"of":[43,94,110],"an":[44,78],"enlarged":[48],"higher":[51],"dimensional":[52],"space":[53],"where":[54],"but":[57],"time-varying":[58],"law":[60],"designed":[62],"for":[63],"its":[64],"stabilization.":[65],"Furthermore,":[66],"drift":[68],"involved":[69],"in":[70],"can":[73],"also":[74,102],"handled":[76],"as":[77],"input":[79],"perturbation":[80],"scheme.":[84],"Besides":[85],"theoretical":[87],"proofs,":[88],"simulations":[89],"conducted":[90],"on":[91],"trimaran":[96],"unmanned":[97],"surface":[98],"vehicle":[99],"(USV)":[100],"are":[101],"presented":[103],"demonstrate":[105],"validity":[107],"performance":[109],"method.":[113]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}