{"id":"https://openalex.org/W4385885088","doi":"https://doi.org/10.1109/tcns.2023.3305750","title":"Robust Formation Control for PWM-Controlled Mobile Autonomous Multiagent Systems","display_name":"Robust Formation Control for PWM-Controlled Mobile Autonomous Multiagent Systems","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4385885088","doi":"https://doi.org/10.1109/tcns.2023.3305750"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2023.3305750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2023.3305750","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","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/A5006604208","display_name":"Jingwei Xu","orcid":"https://orcid.org/0000-0001-6499-193X"},"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":"Jingwei Xu","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6499-193X","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/A5066553161","display_name":"Zhanxiu Wang","orcid":"https://orcid.org/0000-0002-6700-3594"},"institutions":[{"id":"https://openalex.org/I4210141689","display_name":"Yancheng Teachers University","ror":"https://ror.org/042k5fe81","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210141689"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanxiu Wang","raw_affiliation_strings":["School of Information Engineering, Yancheng Teachers University, Yancheng, China"],"raw_orcid":"https://orcid.org/0000-0002-6700-3594","affiliations":[{"raw_affiliation_string":"School of Information Engineering, Yancheng Teachers University, Yancheng, China","institution_ids":["https://openalex.org/I4210141689"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041006270","display_name":"Zhenghong Jin","orcid":"https://orcid.org/0000-0002-0098-712X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"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","SG"],"is_corresponding":false,"raw_author_name":"Zhenghong Jin","raw_affiliation_strings":["The State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0098-712X","affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8773,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.74874998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":"2","first_page":"731","last_page":"742"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9954000115394592,"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/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8013453483581543},{"id":"https://openalex.org/keywords/pulse-width-modulation","display_name":"Pulse-width modulation","score":0.6770085096359253},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.6363892555236816},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5615076422691345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4905228018760681},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.47343042492866516},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.41465485095977783},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3961772322654724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30295729637145996},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2593175768852234},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21826553344726562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19855967164039612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10156795382499695},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09930413961410522}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8013453483581543},{"id":"https://openalex.org/C92746544","wikidata":"https://www.wikidata.org/wiki/Q585184","display_name":"Pulse-width modulation","level":3,"score":0.6770085096359253},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.6363892555236816},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5615076422691345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4905228018760681},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.47343042492866516},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.41465485095977783},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3961772322654724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30295729637145996},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2593175768852234},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21826553344726562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19855967164039612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10156795382499695},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09930413961410522},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/tcns.2023.3305750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2023.3305750","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1560768615","https://openalex.org/W1972945640","https://openalex.org/W1976907074","https://openalex.org/W1984651876","https://openalex.org/W1999416503","https://openalex.org/W2000806524","https://openalex.org/W2038137192","https://openalex.org/W2038896449","https://openalex.org/W2090167557","https://openalex.org/W2099175737","https://openalex.org/W2122561468","https://openalex.org/W2129488612","https://openalex.org/W2130535256","https://openalex.org/W2134713587","https://openalex.org/W2162053828","https://openalex.org/W2162496869","https://openalex.org/W2165744313","https://openalex.org/W2339347386","https://openalex.org/W2583742612","https://openalex.org/W2611346233","https://openalex.org/W2940830480","https://openalex.org/W2943334970","https://openalex.org/W2979658342","https://openalex.org/W3023897428","https://openalex.org/W3033711274","https://openalex.org/W3041924304","https://openalex.org/W3156156242","https://openalex.org/W4206086137","https://openalex.org/W4220795844","https://openalex.org/W4220974168","https://openalex.org/W4249525427","https://openalex.org/W4280648216","https://openalex.org/W4293193408","https://openalex.org/W4293874414"],"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],"paper":[1],"investigates":[2],"the":[3,30,38,83,97,109,113,118,133,137,142,147,160],"robust":[4,70],"formation":[5],"problem":[6],"of":[7,10,40,68,99,139,149],"a":[8,49,65,103,123],"class":[9,67],"nonholonomic":[11],"mobile":[12],"robots":[13],"that":[14,76,95,130],"are":[15],"controlled":[16],"by":[17,107,131],"pulse-width-modulation":[18],"(PWM)":[19],"signals":[20],"and":[21,26,45,86],"subject":[22],"to":[23,82,102,158],"switching":[24],"topologies":[25],"measurement":[27],"disturbances.":[28],"However,":[29],"existing":[31],"literature":[32],"does":[33],"not":[34],"fully":[35],"account":[36],"for":[37],"impact":[39],"hybrid":[41],"PWM":[42,71],"control":[43,54],"inputs":[44],"second-order":[46],"dynamics.":[47],"As":[48],"result,":[50],"traditional":[51],"continuous":[52],"linear":[53],"schemes":[55],"require":[56],"significant":[57],"modification":[58],"before":[59],"application.":[60],"To":[61],"address":[62],"this":[63],"problem,":[64],"new":[66],"distributed":[69],"controllers":[72],"is":[73,93,128,156],"proposed,":[74],"ensuring":[75],"each":[77,100],"PWM-controlled":[78],"agent":[79],"asymptotically":[80],"converges":[81,145],"desired":[84],"position":[85],"velocity.":[87],"Additionally,":[88],"an":[89],"invariant":[90],"set-like":[91],"method":[92],"presented":[94],"restricts":[96],"states":[98],"subsystem":[101],"chosen":[104],"closed":[105],"set":[106],"analyzing":[108,132],"dynamic":[110,134],"relationship":[111,135],"between":[112,136],"interactions,":[114],"as":[115,117],"long":[116],"information":[119],"exchange":[120],"topology":[121],"satisfies":[122],"mild":[124],"restriction.":[125],"Finally,":[126],"it":[127],"demonstrated":[129],"interactions":[138],"different":[140],"agents,":[141],"closed-loop":[143],"system":[144],"in":[146],"sense":[148],"input-to-state":[150],"stability":[151],"(ISS).":[152],"A":[153],"numerical":[154],"example":[155],"provided":[157],"validate":[159],"theoretical":[161],"results.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}