{"id":"https://openalex.org/W3120255068","doi":"https://doi.org/10.1109/tac.2020.3048931","title":"Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems","display_name":"Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems","publication_year":2021,"publication_date":"2021-01-05","ids":{"openalex":"https://openalex.org/W3120255068","doi":"https://doi.org/10.1109/tac.2020.3048931","mag":"3120255068"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2020.3048931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2020.3048931","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-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/A5082539955","display_name":"Neda Sarrafan","orcid":"https://orcid.org/0000-0002-6905-0757"},"institutions":[{"id":"https://openalex.org/I204490172","display_name":"Shiraz University of Technology","ror":"https://ror.org/04bxa3v83","country_code":"IR","type":"education","lineage":["https://openalex.org/I204490172"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Neda Sarrafan","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Shiraz University of Technology, Shiraz, Iran"],"raw_orcid":"https://orcid.org/0000-0002-6905-0757","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Shiraz University of Technology, Shiraz, Iran","institution_ids":["https://openalex.org/I204490172"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085290220","display_name":"Jafar Zarei","orcid":"https://orcid.org/0000-0002-0135-8173"},"institutions":[{"id":"https://openalex.org/I204490172","display_name":"Shiraz University of Technology","ror":"https://ror.org/04bxa3v83","country_code":"IR","type":"education","lineage":["https://openalex.org/I204490172"]},{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA","IR"],"is_corresponding":false,"raw_author_name":"Jafar Zarei","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Shiraz University of Technology, Shiraz, Iran","University of Windsor, Windsor, Canada"],"raw_orcid":"https://orcid.org/0000-0002-0135-8173","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Shiraz University of Technology, Shiraz, Iran","institution_ids":["https://openalex.org/I204490172"]},{"raw_affiliation_string":"University of Windsor, Windsor, Canada","institution_ids":["https://openalex.org/I74413500"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2911,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.95591574,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"66","issue":"10","first_page":"4933","last_page":"4938"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9987999796867371,"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":0.979200005531311,"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":0.7797085046768188},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6925104260444641},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6250412464141846},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5785714387893677},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.46730494499206543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4517981708049774},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44220292568206787},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43450137972831726},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.43146955966949463},{"id":"https://openalex.org/keywords/uniform-boundedness","display_name":"Uniform boundedness","score":0.41072607040405273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3973004221916199},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.26207244396209717},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19200927019119263},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18921807408332825},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10673695802688599},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0794467031955719}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7797085046768188},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6925104260444641},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6250412464141846},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5785714387893677},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.46730494499206543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4517981708049774},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44220292568206787},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43450137972831726},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.43146955966949463},{"id":"https://openalex.org/C90377204","wikidata":"https://www.wikidata.org/wiki/Q1052594","display_name":"Uniform boundedness","level":3,"score":0.41072607040405273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3973004221916199},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26207244396209717},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19200927019119263},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18921807408332825},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10673695802688599},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0794467031955719},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2020.3048931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2020.3048931","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W862801087","https://openalex.org/W1890265107","https://openalex.org/W1965585748","https://openalex.org/W1973578767","https://openalex.org/W1988837728","https://openalex.org/W2032773012","https://openalex.org/W2062551655","https://openalex.org/W2077483340","https://openalex.org/W2087071250","https://openalex.org/W2099175737","https://openalex.org/W2102620728","https://openalex.org/W2123332983","https://openalex.org/W2129275525","https://openalex.org/W2143843955","https://openalex.org/W2220369366","https://openalex.org/W2282865445","https://openalex.org/W2305138675","https://openalex.org/W2810529438","https://openalex.org/W2889271242","https://openalex.org/W2900559049","https://openalex.org/W2916013785","https://openalex.org/W2954604677","https://openalex.org/W2999406221","https://openalex.org/W2999841658","https://openalex.org/W3037669777","https://openalex.org/W6675272084","https://openalex.org/W6675343794","https://openalex.org/W6752649847","https://openalex.org/W6754080313"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2121012413","https://openalex.org/W1550017747","https://openalex.org/W2058136797","https://openalex.org/W2111504174","https://openalex.org/W2784029343","https://openalex.org/W2978522532"],"abstract_inverted_index":{"This":[0],"article":[1],"is":[2,28,51,85,107],"concerned":[3],"with":[4,13],"the":[5,36,58,64,81,97,100,111,114,135,138],"leader\u2013follower":[6],"consensus":[7,78],"tracking":[8,79],"problem":[9],"for":[10,31,53,123],"multiagent":[11],"systems":[12],"nonholonomic":[14],"high-order":[15],"chained-form":[16],"dynamics":[17],"subject":[18],"to":[19,34,56,63,74,95,109,133],"external":[20],"disturbances.":[21],"A":[22],"novel":[23],"distributed":[24],"and":[25],"bounded":[26,45],"observer":[27],"first":[29],"developed":[30],"each":[32,54],"follower":[33,55],"estimate":[35],"leader":[37],"information":[38],"in":[39],"a":[40,44,124],"finite":[41],"time.":[42,119],"Then,":[43],"fast":[46,65],"terminal":[47],"sliding-mode":[48],"control":[49,82,140],"protocol":[50],"constructed":[52],"track":[57],"estimated":[59],"leader's":[60],"states":[61],"leading":[62],"convergence":[66,118],"performance":[67],"as":[68,70],"well":[69],"strong":[71],"robustness.":[72],"Contrary":[73],"some":[75,121],"existing":[76],"finite-time":[77],"schemes,":[80],"input":[83],"constraint":[84],"taken":[86],"into":[87],"account":[88],"by":[89],"utilizing":[90],"hyperbolic":[91],"tangent":[92],"saturation":[93],"function":[94],"reduce":[96,110],"risk":[98],"of":[99,113,117,126,137],"actuator":[101],"saturation.":[102],"Moreover,":[103],"an":[104],"approximation-based":[105],"technique":[106],"introduced":[108],"conservatism":[112],"upper":[115],"bound":[116],"Finally,":[120],"simulations":[122],"set":[125],"wheeled":[127],"mobile":[128],"robots":[129],"are":[130],"carried":[131],"out":[132],"demonstrate":[134],"efficiency":[136],"proposed":[139],"algorithm.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
