{"id":"https://openalex.org/W2085896530","doi":"https://doi.org/10.1109/tcst.2011.2181378","title":"Configuration Constrained Stabilization of a Wheeled Mobile Robot\u2014 Theory and Experiment","display_name":"Configuration Constrained Stabilization of a Wheeled Mobile Robot\u2014 Theory and Experiment","publication_year":2012,"publication_date":"2012-01-12","ids":{"openalex":"https://openalex.org/W2085896530","doi":"https://doi.org/10.1109/tcst.2011.2181378","mag":"2085896530"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2011.2181378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2011.2181378","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","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/A5103003208","display_name":"V. Sankaranarayanan","orcid":null},"institutions":[{"id":"https://openalex.org/I122964287","display_name":"National Institute of Technology Tiruchirappalli","ror":"https://ror.org/047x65e68","country_code":"IN","type":"education","lineage":["https://openalex.org/I122964287"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"V. Sankaranarayanan","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, National Institute of Technology, Trichy, India","[Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Tiruchirappalli, India]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, National Institute of Technology, Trichy, India","institution_ids":["https://openalex.org/I122964287"]},{"raw_affiliation_string":"[Dept. of Electr. & Electron. Eng., Nat. Inst. of Technol., Tiruchirappalli, India]","institution_ids":["https://openalex.org/I122964287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059111533","display_name":"Arun D. Mahindrakar","orcid":"https://orcid.org/0000-0002-7866-4363"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arun D. Mahindrakar","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India","[Dept. of Electr. Eng., Indian Inst. of Technol. Madras, Chennai, India]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India","institution_ids":["https://openalex.org/I24676775"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Indian Inst. of Technol. Madras, Chennai, India]","institution_ids":["https://openalex.org/I24676775"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103003208"],"corresponding_institution_ids":["https://openalex.org/I122964287"],"apc_list":null,"apc_paid":null,"fwci":2.2522,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.89469464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"21","issue":"1","first_page":"275","last_page":"280"},"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":1.0,"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":1.0,"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":0.9979000091552734,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9955999851226807,"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":0.8175454139709473},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.691716194152832},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6023761630058289},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5699124932289124},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5149050951004028},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5006029605865479},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.49327248334884644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.491354376077652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48198288679122925},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45317062735557556},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.43207064270973206},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39257538318634033},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3437940776348114},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22953251004219055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14269942045211792}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8175454139709473},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.691716194152832},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6023761630058289},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5699124932289124},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5149050951004028},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5006029605865479},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.49327248334884644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.491354376077652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48198288679122925},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45317062735557556},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.43207064270973206},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39257538318634033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3437940776348114},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22953251004219055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14269942045211792},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2011.2181378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2011.2181378","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W9639216","https://openalex.org/W611690949","https://openalex.org/W1530742979","https://openalex.org/W1537842733","https://openalex.org/W1545775168","https://openalex.org/W1983764986","https://openalex.org/W2007696489","https://openalex.org/W2036646717","https://openalex.org/W2044257221","https://openalex.org/W2048723778","https://openalex.org/W2078516226","https://openalex.org/W2100505804","https://openalex.org/W2108301912","https://openalex.org/W2133661758","https://openalex.org/W2144884795","https://openalex.org/W2149083909","https://openalex.org/W2150531296","https://openalex.org/W2158742422","https://openalex.org/W2169620359","https://openalex.org/W2171505650","https://openalex.org/W2181173517","https://openalex.org/W3106043943","https://openalex.org/W6600425503"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2124621291","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,14],"nonlinear":[3],"control":[4,10],"law":[5],"based":[6],"on":[7,23,56],"sliding":[8],"mode":[9],"technique":[11,63],"to":[12,19,34,53],"stabilize":[13],"mobile":[15],"robot":[16],"while":[17],"adhering":[18],"the":[20,36,39,46,54,57],"physical":[21],"constraints":[22],"its":[24],"configuration":[25],"variables.":[26],"The":[27,61],"notion":[28],"of":[29,38,48],"constrained":[30],"stabilization":[31],"is":[32,45,64],"used":[33],"prove":[35],"stability":[37],"closed-loop":[40],"system.":[41],"A":[42],"key":[43],"contribution":[44],"design":[47],"controller":[49],"gains":[50],"in":[51],"accordance":[52],"restrictions":[55],"initial":[58],"condition":[59],"domain.":[60],"proposed":[62],"validated":[65],"through":[66],"both":[67],"numerical":[68],"simulation":[69],"and":[70],"experimental":[71],"results.":[72]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
