{"id":"https://openalex.org/W4317383343","doi":"https://doi.org/10.1109/robio55434.2022.10011793","title":"Exponentially Tracking Control of Nonholonomic Wheeled Mobile Robot based on Contraction Theory","display_name":"Exponentially Tracking Control of Nonholonomic Wheeled Mobile Robot based on Contraction Theory","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383343","doi":"https://doi.org/10.1109/robio55434.2022.10011793"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011793","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011793","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5006721216","display_name":"Yanhong Liu","orcid":"https://orcid.org/0000-0002-7349-5871"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhong Liu","raw_affiliation_strings":["Zhengzhou University,School of Electrical and Information Engineering,Zhengzhou,China","School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhengzhou University,School of Electrical and Information Engineering,Zhengzhou,China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662612","display_name":"Mengqi Li","orcid":"https://orcid.org/0000-0003-3551-0345"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengqi Li","raw_affiliation_strings":["Zhengzhou University,School of Electrical and Information Engineering,Zhengzhou,China","School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhengzhou University,School of Electrical and Information Engineering,Zhengzhou,China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100742425","display_name":"Fangyuan Li","orcid":"https://orcid.org/0000-0001-6799-1310"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangyuan Li","raw_affiliation_strings":["Zhengzhou University,School of Electrical and Information Engineering,Zhengzhou,China","School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhengzhou University,School of Electrical and Information Engineering,Zhengzhou,China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037783994","display_name":"Hongnian Yu","orcid":"https://orcid.org/0000-0003-2894-2086"},"institutions":[{"id":"https://openalex.org/I251738","display_name":"Edinburgh Napier University","ror":"https://ror.org/03zjvnn91","country_code":"GB","type":"education","lineage":["https://openalex.org/I251738"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongnian Yu","raw_affiliation_strings":["Edinburgh Napier University,School of Engineering and the Built Environment,Edinburgh,GB","School of Engineering and the Built Environment, Edinburgh Napier University, Edinburgh, GB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edinburgh Napier University,School of Engineering and the Built Environment,Edinburgh,GB","institution_ids":["https://openalex.org/I251738"]},{"raw_affiliation_string":"School of Engineering and the Built Environment, Edinburgh Napier University, Edinburgh, GB","institution_ids":["https://openalex.org/I251738"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1820","last_page":"1825"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical 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/T12772","display_name":"Control and Stability of Dynamical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9911999702453613,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9763000011444092,"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/mobile-robot","display_name":"Mobile robot","score":0.8235304355621338},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8080284595489502},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.68626469373703},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6510344743728638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6017526388168335},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47490039467811584},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.440203458070755},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43011510372161865},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4034486413002014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2726438641548157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21805068850517273},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20076984167099},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07557648420333862},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05354321002960205}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8235304355621338},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8080284595489502},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.68626469373703},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6510344743728638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6017526388168335},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47490039467811584},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.440203458070755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43011510372161865},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4034486413002014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2726438641548157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21805068850517273},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20076984167099},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07557648420333862},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05354321002960205},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011793","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011793","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":17,"referenced_works":["https://openalex.org/W1971044547","https://openalex.org/W2013379408","https://openalex.org/W2053309223","https://openalex.org/W2093535548","https://openalex.org/W2134889984","https://openalex.org/W2165861322","https://openalex.org/W2613930001","https://openalex.org/W2736611203","https://openalex.org/W2942876615","https://openalex.org/W2964337106","https://openalex.org/W2976336400","https://openalex.org/W2999467926","https://openalex.org/W3037033620","https://openalex.org/W3048549964","https://openalex.org/W3120117387","https://openalex.org/W4223424930","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W2020829486","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W2016451691","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"Wheeled":[0],"mobile":[1,20,66,83],"robot":[2,21,67,84],"is":[3,33,55,76],"one":[4],"of":[5,18,27,62,72,81,106],"the":[6,15,25,50,59,63,70,79,96,107],"well-known":[7],"nonholonomic":[8,19,65],"systems.":[9],"In":[10],"this":[11],"paper,":[12],"we":[13],"investigate":[14],"tracking":[16],"problem":[17],"system.":[22,68],"To":[23],"achieve":[24],"purpose":[26],"trajectory":[28,46],"tracking,":[29],"a":[30,82,87],"control":[31,37,74],"scheme":[32,98],"proposed":[34,73,97],"by":[35,78],"using":[36],"contraction":[38,51],"metric":[39],"(CCM),":[40],"which":[41],"can":[42],"track":[43],"any":[44,103],"feasible":[45],"that":[47,95],"remains":[48],"within":[49],"region.":[52],"Theoretical":[53],"analysis":[54],"provided":[56],"to":[57],"guarantee":[58],"exponential":[60],"stability":[61],"controlled":[64],"Finally,":[69],"performance":[71],"strategy":[75],"verified":[77],"simulation":[80,91],"moving":[85],"on":[86,102],"horizontal":[88],"plane.":[89],"The":[90],"results":[92],"also":[93],"show":[94],"does":[99],"not":[100],"rely":[101],"prior":[104],"knowledge":[105],"target":[108],"trajectory.":[109]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
