{"id":"https://openalex.org/W2912789080","doi":"https://doi.org/10.1109/skima.2018.8631518","title":"Trajectory tracking for mobile robot: with parameter identification and high gain observer for encoder dynamics","display_name":"Trajectory tracking for mobile robot: with parameter identification and high gain observer for encoder dynamics","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2912789080","doi":"https://doi.org/10.1109/skima.2018.8631518","mag":"2912789080"},"language":"en","primary_location":{"id":"doi:10.1109/skima.2018.8631518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/skima.2018.8631518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 12th International Conference on Software, Knowledge, Information Management & Applications (SKIMA)","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/A5065117084","display_name":"Lattanavong Thammabanvong","orcid":null},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"L. Thammabanvong","raw_affiliation_strings":["Univ Lyon, Villeurbanne, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086791644","display_name":"Fayez Shakil Ahmed","orcid":"https://orcid.org/0000-0001-8501-824X"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. S. Ahmed","raw_affiliation_strings":["Univ Lyon, Villeurbanne, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008350119","display_name":"Hamed Yahoui","orcid":null},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"H. Yahoui","raw_affiliation_strings":["Univ Lyon, Villeurbanne, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050163737","display_name":"H. Hammouri","orcid":"https://orcid.org/0000-0002-9587-1612"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"H. Hammouri","raw_affiliation_strings":["Univ Lyon, Villeurbanne, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I100532134"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20658543,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9976000189781189,"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":0.994700014591217,"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":0.7880973815917969},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6954113245010376},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6856216192245483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6268110871315002},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6151686906814575},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6037326455116272},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5980449318885803},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.49214476346969604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44186845421791077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40314823389053345},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21168851852416992},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.21124020218849182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18751218914985657},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17085489630699158}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7880973815917969},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6954113245010376},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6856216192245483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6268110871315002},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6151686906814575},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6037326455116272},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5980449318885803},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.49214476346969604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44186845421791077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40314823389053345},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21168851852416992},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.21124020218849182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18751218914985657},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17085489630699158},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/skima.2018.8631518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/skima.2018.8631518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 12th International Conference on Software, Knowledge, Information Management & Applications (SKIMA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W86421594","https://openalex.org/W128135588","https://openalex.org/W1592100533","https://openalex.org/W1995060319","https://openalex.org/W2006075098","https://openalex.org/W2053103650","https://openalex.org/W2133066324","https://openalex.org/W2152251004","https://openalex.org/W2418628086","https://openalex.org/W2462948534","https://openalex.org/W2509638361","https://openalex.org/W2589883847","https://openalex.org/W2748287164"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1577182676","https://openalex.org/W2156868854","https://openalex.org/W4244593870","https://openalex.org/W2131454054","https://openalex.org/W2157744697","https://openalex.org/W2109445039","https://openalex.org/W2801643600","https://openalex.org/W4385059443","https://openalex.org/W4383611656"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,8,43],"trajectory":[4,51],"tracking":[5,52],"problem":[6],"of":[7,33,39,62],"non-holonomic":[9],"mobile":[10,41],"robot":[11],"with":[12,57],"differential":[13],"driven":[14],"wheels.":[15],"The":[16,60],"robust":[17],"controller":[18],"ensures":[19],"the":[20,26,31,34,40,63,71],"non":[21],"linear":[22],"system":[23],"to":[24],"reach":[25],"goal":[27],"position.":[28],"To":[29],"ensure":[30],"dynamics":[32],"encoders":[35],"for":[36,65],"both":[37],"wheels":[38],"robot,":[42],"high":[44],"gain":[45],"observer":[46],"is":[47,55],"used.":[48],"Furthermore,":[49],"in":[50],"control,":[53],"robustness":[54],"better":[56],"control":[58,67],"loops.":[59],"convergence":[61],"algorithm":[64],"backstepping":[66],"was":[68],"proven":[69],"by":[70],"simulation":[72],"results.":[73]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}