{"id":"https://openalex.org/W4396852958","doi":"https://doi.org/10.1109/tase.2024.3397316","title":"FAS-Based Anti-Disturbance Stabilization Control of Nonholonomic Systems: Theory and Experiment","display_name":"FAS-Based Anti-Disturbance Stabilization Control of Nonholonomic Systems: Theory and Experiment","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4396852958","doi":"https://doi.org/10.1109/tase.2024.3397316"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3397316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3397316","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5101796449","display_name":"Yang Gao","orcid":"https://orcid.org/0009-0004-4643-4960"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Gao","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0004-4643-4960","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015948239","display_name":"Zhongcai Zhang","orcid":"https://orcid.org/0000-0003-3123-868X"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongcai Zhang","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"raw_orcid":"https://orcid.org/0000-0003-3123-868X","affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006016257","display_name":"Peng Huang","orcid":"https://orcid.org/0000-0003-1449-1499"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Huang","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034829291","display_name":"Yuqiang Wu","orcid":"https://orcid.org/0000-0003-0775-6743"},"institutions":[{"id":"https://openalex.org/I202126657","display_name":"Qufu Normal University","ror":"https://ror.org/03ceheh96","country_code":"CN","type":"education","lineage":["https://openalex.org/I202126657"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqiang Wu","raw_affiliation_strings":["School of Engineering, Qufu Normal University, Rizhao, China"],"raw_orcid":"https://orcid.org/0000-0003-0775-6743","affiliations":[{"raw_affiliation_string":"School of Engineering, Qufu Normal University, Rizhao, China","institution_ids":["https://openalex.org/I202126657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5928,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.89500933,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"3608","last_page":"3620"},"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":0.9925000071525574,"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":0.9854999780654907,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.7596616744995117},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.742370069026947},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6069924831390381},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5430824160575867},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4811769425868988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47135868668556213},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.41485023498535156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40217357873916626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3758433759212494},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3461807370185852},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31461724638938904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15028437972068787}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7596616744995117},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.742370069026947},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6069924831390381},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5430824160575867},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4811769425868988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47135868668556213},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.41485023498535156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40217357873916626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3758433759212494},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3461807370185852},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31461724638938904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15028437972068787},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3397316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3397316","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7400000095367432,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G146271687","display_name":null,"funder_award_id":"62173207","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2461757765","display_name":null,"funder_award_id":"62073187","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3480711094","display_name":null,"funder_award_id":"2023T160334","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5274439548","display_name":null,"funder_award_id":"62073189","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7411164083","display_name":null,"funder_award_id":"62188101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W179828086","https://openalex.org/W1975197278","https://openalex.org/W1998173386","https://openalex.org/W2013379408","https://openalex.org/W2023218087","https://openalex.org/W2033699235","https://openalex.org/W2038017247","https://openalex.org/W2079519375","https://openalex.org/W2100563249","https://openalex.org/W2117936907","https://openalex.org/W2121570671","https://openalex.org/W2129558914","https://openalex.org/W2133361850","https://openalex.org/W2138241565","https://openalex.org/W2147600827","https://openalex.org/W2167204560","https://openalex.org/W2167656575","https://openalex.org/W2471390590","https://openalex.org/W2975408797","https://openalex.org/W3005595455","https://openalex.org/W3007435099","https://openalex.org/W3091780002","https://openalex.org/W3099795249","https://openalex.org/W3126740933","https://openalex.org/W3195884369","https://openalex.org/W3202317945","https://openalex.org/W3215465991","https://openalex.org/W4214951206","https://openalex.org/W4224326896","https://openalex.org/W4283518853","https://openalex.org/W4284989066","https://openalex.org/W4285196736","https://openalex.org/W4289842439","https://openalex.org/W4312277249","https://openalex.org/W4312777405","https://openalex.org/W4317033494","https://openalex.org/W4321366661","https://openalex.org/W4321608026","https://openalex.org/W4323833140","https://openalex.org/W4367663457","https://openalex.org/W4376464655","https://openalex.org/W4377968124","https://openalex.org/W4379533021","https://openalex.org/W4380677398","https://openalex.org/W4385462970","https://openalex.org/W4391259627","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1967307436","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"This":[0,138,281],"article":[1],"considers":[2],"the":[3,11,29,32,42,62,105,116,119,143,147,171,184,187,212,218,230,234,257,260,289,298,311,318,330,334,338],"control":[4,60,70,92,95,149,188,203,286,304,324,331,343],"issue":[5],"for":[6,220,253],"chained":[7],"nonholonomic":[8,345],"systems":[9,155],"in":[10,135,170,247,344],"presence":[12],"of":[13,61,71,104,118,146,214,341],"disturbances":[14],"and":[15,87,93,109,175,181,201,233,244],"model":[16],"uncertainties.":[17],"The":[18],"original":[19,63],"system":[20,50,64],"is":[21,35,44,65,81,140,168,283,295],"a":[22,47,165,278,284],"cascaded":[23],"form":[24],"with":[25,52,160,333],"two":[26,226,238],"subsystems.":[27],"In":[28,288],"proposed":[30,97,120],"algorithm,":[31],"first":[33,290],"subsystem":[34],"designed":[36],"to":[37,83,98,114,125,151,186,268,317],"be":[38,265,275],"exponentially":[39],"stable,":[40],"while":[41,297],"second":[43],"reformulated":[45],"into":[46,67,277],"fully":[48],"actuated":[49],"(FAS)":[51],"some":[53],"states":[54,86],"remaining":[55],"unavailable.":[56],"Consequently,":[57,225],"state":[58,319],"feedback":[59,69,91,300,313,320],"transformed":[66],"output":[68,90,299,312],"FAS.":[72],"An":[73],"effective":[74],"observer":[75],"based":[76],"on":[77],"Fourier":[78],"transform":[79],"technique":[80],"presented":[82,113],"simultaneously":[84],"estimate":[85],"disturbances.":[88,161],"Then,":[89],"relay-switching-based":[94,279],"are":[96,112,133,228,309],"achieve":[99],"exponential":[100],"or":[101],"asymptotical":[102],"convergence":[103],"states.":[106],"Finally,":[107],"simulation":[108],"experiment":[110],"results":[111],"illustrate":[115],"efficacy":[117],"strategy.":[121,280],"<italic":[122],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[123],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[124],"Practitioners</i>":[126],"\u2014Nonholonomic":[127],"systems,":[128],"exemplified":[129],"by":[130,142],"wheeled":[131,166],"robots,":[132],"ubiquitous":[134],"engineering":[136],"applications.":[137,255],"paper":[139,210],"motivated":[141],"practical":[144,254,339],"requirements":[145],"stabilization":[148,342],"tailored":[150],"such":[152],"systems.":[153,346],"Nonholonomic":[154],"often":[156],"face":[157],"complex":[158],"scenarios":[159],"For":[162],"example,":[163],"when":[164],"robot":[167],"parking":[169],"snow":[172],"fields,":[173],"skidding":[174],"slipping":[176],"may":[177],"occur.":[178],"Handling":[179],"uncertainty":[180],"disturbance":[182,248],"increases":[183],"challenge":[185],"task.":[189],"Furthermore,":[190],"onboard":[191],"computers":[192],"typically":[193],"have":[194],"limited":[195],"computing":[196],"power,":[197],"thereby":[198],"requiring":[199],"straightforward":[200],"concise":[202],"algorithms.":[204],"To":[205],"meet":[206,269],"these":[207],"requirements,":[208,271],"this":[209,327],"introduces":[211],"framework":[213],"FAS,":[215],"which":[216],"eliminates":[217],"need":[219],"conventional":[221],"recursive":[222],"design":[223],"procedures.":[224],"controllers":[227,239,261],"presented:":[229],"output-feedback-based":[231],"controller":[232,301,314],"state-feedback-based":[235],"controller.":[236],"Both":[237],"offer":[240],"robustness,":[241],"low":[242],"complexity,":[243],"strong":[245],"ability":[246],"rejection,":[249],"making":[250],"them":[251],"suitable":[252],"On":[256],"other":[258],"hand,":[259],"can":[262,273],"not":[263],"only":[264],"deployed":[266],"independently":[267],"specific":[270],"but":[272],"also":[274],"combined":[276],"strategy":[282],"two-stage":[285],"scheme.":[287],"stage,":[291],"accurate":[292],"parameter":[293],"identification":[294],"performed":[296],"maintains":[302],"primary":[303],"performance.":[305],"Once":[306],"precise":[307],"parameters":[308],"obtained,":[310],"seamlessly":[315],"transitions":[316],"controller,":[321],"achieving":[322],"higher":[323],"accuracy.":[325],"Overall,":[326],"approach":[328],"balances":[329],"effectiveness":[332],"computational":[335],"efficiency,":[336],"addressing":[337],"needs":[340]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}