{"id":"https://openalex.org/W3199604008","doi":"https://doi.org/10.1109/tcsii.2021.3111827","title":"Constrained Trajectory Tracking Control of a Mobile Robot by Limited Integrator Anti-Windup","display_name":"Constrained Trajectory Tracking Control of a Mobile Robot by Limited Integrator Anti-Windup","publication_year":2021,"publication_date":"2021-09-10","ids":{"openalex":"https://openalex.org/W3199604008","doi":"https://doi.org/10.1109/tcsii.2021.3111827","mag":"3199604008"},"language":"en","primary_location":{"id":"doi:10.1109/tcsii.2021.3111827","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3111827","pdf_url":"https://ieeexplore.ieee.org/ielx7/8920/9736462/09534777.pdf","source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8920/9736462/09534777.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"J. Moreno-Valenzuela","raw_affiliation_strings":["Department of Systems and Control, Instituto Polit&#x00E9;cnico Nacional&#x2013;CITEDI, Tijuana, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-0670-5979","affiliations":[{"raw_affiliation_string":"Department of Systems and Control, Instituto Polit&#x00E9;cnico Nacional&#x2013;CITEDI, Tijuana, Mexico","institution_ids":["https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5002712538"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":null,"apc_paid":null,"fwci":1.6241,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83537485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"69","issue":"3","first_page":"1422","last_page":"1426"},"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":0.9994000196456909,"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":0.9994000196456909,"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":0.9937999844551086,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9830999970436096,"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/trajectory","display_name":"Trajectory","score":0.7228009104728699},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6297396421432495},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.6192833185195923},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6135751008987427},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5697654485702515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5373756885528564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49425745010375977},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.467760294675827},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37061017751693726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2386101484298706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15509870648384094},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12667348980903625},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.059074074029922485},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.04305911064147949}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7228009104728699},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6297396421432495},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.6192833185195923},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6135751008987427},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5697654485702515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5373756885528564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49425745010375977},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.467760294675827},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37061017751693726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2386101484298706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15509870648384094},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12667348980903625},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.059074074029922485},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.04305911064147949},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"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/tcsii.2021.3111827","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3111827","pdf_url":"https://ieeexplore.ieee.org/ielx7/8920/9736462/09534777.pdf","source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tcsii.2021.3111827","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcsii.2021.3111827","pdf_url":"https://ieeexplore.ieee.org/ielx7/8920/9736462/09534777.pdf","source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2315700894","display_name":null,"funder_award_id":"A1-S-24762","funder_id":"https://openalex.org/F4320324201","funder_display_name":"Secretar\u00eda de Investigaci\u00f3n y Posgrado, Instituto Polit\u00e9cnico Nacional"},{"id":"https://openalex.org/G5431473502","display_name":null,"funder_award_id":"A1-S-24762","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"},{"id":"https://openalex.org/G6958583472","display_name":null,"funder_award_id":"A1-S-","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"}],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320324201","display_name":"Secretar\u00eda de Investigaci\u00f3n y Posgrado, Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3199604008.pdf","grobid_xml":"https://content.openalex.org/works/W3199604008.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W2030691645","https://openalex.org/W2050673413","https://openalex.org/W2066805218","https://openalex.org/W2079623378","https://openalex.org/W2103316572","https://openalex.org/W2113172187","https://openalex.org/W2118774025","https://openalex.org/W2140683590","https://openalex.org/W2156042520","https://openalex.org/W2326226961","https://openalex.org/W2563394581","https://openalex.org/W2905364384","https://openalex.org/W2910278735","https://openalex.org/W2941680849","https://openalex.org/W3000505229","https://openalex.org/W3024704601","https://openalex.org/W3044275224","https://openalex.org/W3119483856","https://openalex.org/W3121949486","https://openalex.org/W3134639965","https://openalex.org/W3167366221","https://openalex.org/W3174319394"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W2122871747","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"brief":[1],"considers":[2],"the":[3,19,26,33,39,64,67,107,116,129,155,161,172,176],"mobile":[4,113,140],"robot":[5],"trajectory":[6,109,135],"tracking":[7,110,136],"control":[8,111,137],"problem":[9,14,178],"with":[10,76],"actuator":[11,59],"saturation.":[12,60],"Although":[13],"has":[15,72],"been":[16,74],"considered":[17],"in":[18,56,119,185],"literature,":[20],"most":[21],"approaches":[22],"achieve":[23],"stability":[24,53,124],"at":[25],"expense":[27],"of":[28,58,66,112,138],"smooth":[29,152],"limited":[30,42],"functions":[31],"on":[32,85,89,151],"controller":[34],"terms,":[35],"which":[36,181],"may":[37],"reduce":[38],"performance.":[40],"The":[41],"integrator":[43],"anti-windup":[44],"(LIAW)":[45],"approach":[46,71,131],"is":[47,102,126,165,179,182],"a":[48,90,96,122,139,147],"known":[49,80,148],"solution":[50,105,174],"to":[51,63,83,106,134],"improve":[52],"and":[54,79,160],"performance":[55],"presence":[57],"In":[61,93],"general,":[62],"best":[65],"author\u2019s":[68],"knowledge,":[69],"this":[70,94,120],"not":[73],"analyzed":[75],"Lyapunov\u2019s":[77],"theory":[78],"applications":[81],"seem":[82],"rely":[84],"intuition":[86],"rather":[87],"than":[88],"formal":[91],"study.":[92],"brief,":[95,121],"proportional":[97],"(P)":[98],"plus":[99],"LIAW":[100],"scheme":[101,149,164],"proposed":[103,162,173],"as":[104],"constrained":[108],"robots.":[114],"For":[115],"first":[117],"time,":[118],"Lyapunov":[123],"analysis":[125],"provided":[127],"for":[128,171],"P+PIAW":[130],"when":[132],"applied":[133],"robot.":[141],"A":[142],"numerical":[143],"simulation":[144],"comparison":[145],"among":[146],"based":[150],"saturation":[153],"functions,":[154],"classical":[156],"linear":[157],"proportional-integral":[158],"controller,":[159],"P+LIAM":[163],"provided.":[166],"Better":[167],"results":[168],"are":[169],"obtained":[170],"since":[175],"windup":[177],"avoided,":[180],"very":[183],"useful":[184],"practical":[186],"applications.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
