{"id":"https://openalex.org/W4392844001","doi":"https://doi.org/10.1109/tac.2024.3365726","title":"Fault-Tolerant Prescribed Performance Control of Wheeled Mobile Robots: A Mixed-Gain Adaption Approach","display_name":"Fault-Tolerant Prescribed Performance Control of Wheeled Mobile Robots: A Mixed-Gain Adaption Approach","publication_year":2024,"publication_date":"2024-02-14","ids":{"openalex":"https://openalex.org/W4392844001","doi":"https://doi.org/10.1109/tac.2024.3365726"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3365726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3365726","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/A5036721322","display_name":"Jin\u2010Xi Zhang","orcid":"https://orcid.org/0000-0002-1451-7057"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jin-Xi Zhang","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022740106","display_name":"Jinliang Ding","orcid":"https://orcid.org/0000-0003-3735-0672"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinliang Ding","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042520521","display_name":"Tianyou Chai","orcid":"https://orcid.org/0000-0002-4623-1483"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyou Chai","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036721322"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":32.4738,"has_fulltext":false,"cited_by_count":100,"citation_normalized_percentile":{"value":0.99915455,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"69","issue":"8","first_page":"5500","last_page":"5507"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.816601037979126},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.7059865593910217},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6681321263313293},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6430160999298096},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.6073752641677856},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5493294596672058},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5445168614387512},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5164313912391663},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4376639127731323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4375944137573242},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.42835110425949097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3388507664203644},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29176950454711914},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.20334967970848083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12274143099784851},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09957414865493774}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.816601037979126},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.7059865593910217},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6681321263313293},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6430160999298096},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.6073752641677856},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5493294596672058},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5445168614387512},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5164313912391663},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4376639127731323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4375944137573242},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.42835110425949097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3388507664203644},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29176950454711914},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.20334967970848083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12274143099784851},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09957414865493774},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2024.3365726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3365726","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":[{"id":"https://openalex.org/G2273942381","display_name":null,"funder_award_id":"N2108003","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5789780205","display_name":null,"funder_award_id":"61988101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5898287775","display_name":null,"funder_award_id":"61991404","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6662064984","display_name":null,"funder_award_id":"62103093","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7063703113","display_name":null,"funder_award_id":"N2324003-05","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1976745230","https://openalex.org/W2023218087","https://openalex.org/W2069612046","https://openalex.org/W2097121541","https://openalex.org/W2115990616","https://openalex.org/W2127516259","https://openalex.org/W2128698518","https://openalex.org/W2138420330","https://openalex.org/W2148319451","https://openalex.org/W2156998846","https://openalex.org/W2165867693","https://openalex.org/W2166184893","https://openalex.org/W2285870816","https://openalex.org/W2346634033","https://openalex.org/W2587804202","https://openalex.org/W2760119996","https://openalex.org/W2803831050","https://openalex.org/W2804158892","https://openalex.org/W2805977334","https://openalex.org/W2811066259","https://openalex.org/W2911190484","https://openalex.org/W2944972447","https://openalex.org/W2971983880","https://openalex.org/W2977666015","https://openalex.org/W2995338647","https://openalex.org/W3108879664","https://openalex.org/W3131884033","https://openalex.org/W3133254695","https://openalex.org/W3152926585","https://openalex.org/W3216633780","https://openalex.org/W4293195147","https://openalex.org/W4298022490","https://openalex.org/W4313019746","https://openalex.org/W4380881541","https://openalex.org/W4388469676"],"related_works":["https://openalex.org/W2906946336","https://openalex.org/W2146611987","https://openalex.org/W2938416672","https://openalex.org/W4389432327","https://openalex.org/W4289599435","https://openalex.org/W2132660247","https://openalex.org/W1986528036","https://openalex.org/W2098534227","https://openalex.org/W3126153333","https://openalex.org/W2155757393"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,60,64],"concerned":[3],"with":[4,67,83],"the":[5,11,24,30,36,42,45,68,81,84,91,94,98],"trajectory":[6,78],"tracking":[7,79],"control":[8,48,72,76],"problem":[9],"for":[10],"wheeled":[12],"mobile":[13],"robots":[14],"(WMRs)":[15],"subject":[16],"to":[17],"actuator":[18,92],"faults.":[19],"The":[20,74,115],"challenge":[21],"lies":[22],"in":[23,35],"partial":[25],"loss":[26,37],"of":[27,29,38,41,80],"effectiveness":[28],"actuated":[31],"wheels":[32],"which":[33],"results":[34],"strong":[39],"controllability":[40],"WMR,":[43],"rendering":[44],"classical":[46],"fault-tolerant":[47],"methods":[49],"infeasible.":[50],"To":[51],"overcome":[52],"this":[53],"obstacle,":[54],"a":[55,121],"novel":[56],"mixed-gain":[57],"adaption":[58],"technique":[59],"put":[61],"forward":[62],"and":[63,88,97],"skillfully":[65],"combined":[66],"robust":[69],"prescribed":[70],"performance":[71],"method.":[73],"resulting":[75],"achieves":[77],"WMR":[82],"predefined":[85],"settling":[86],"time":[87],"accuracy,":[89],"against":[90],"faults,":[93],"model":[95],"uncertainties":[96],"disturbances.":[99],"Moreover,":[100],"it":[101],"exhibits":[102],"significant":[103],"simplicity,":[104],"without":[105],"parameter":[106],"identification,":[107],"function":[108],"approximation,":[109],"disturbance":[110],"estimation":[111],"or":[112],"fault":[113],"estimation.":[114],"theoretical":[116],"findings":[117],"are":[118],"illustrated":[119],"by":[120],"comparative":[122],"simulation.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":65},{"year":2024,"cited_by_count":25}],"updated_date":"2026-04-06T07:47:59.780226","created_date":"2025-10-10T00:00:00"}
