{"id":"https://openalex.org/W2393211083","doi":"https://doi.org/10.1109/tcst.2016.2557232","title":"Cascade-Like Modular Tracking Controller for non-Standard N-Trailers","display_name":"Cascade-Like Modular Tracking Controller for non-Standard N-Trailers","publication_year":2016,"publication_date":"2016-05-12","ids":{"openalex":"https://openalex.org/W2393211083","doi":"https://doi.org/10.1109/tcst.2016.2557232","mag":"2393211083"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2016.2557232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2557232","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/A5033779541","display_name":"Maciej Marcin Micha\u0142ek","orcid":"https://orcid.org/0000-0002-9953-703X"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Maciej Marcin Michalek","raw_affiliation_strings":["Chair of Control and Systems Engineering, Pozna\u0144 University of Technology, Pozna\u0144, Poland"],"raw_orcid":"https://orcid.org/0000-0002-9953-703X","affiliations":[{"raw_affiliation_string":"Chair of Control and Systems Engineering, Pozna\u0144 University of Technology, Pozna\u0144, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5033779541"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":4.0482,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.93885627,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"2","first_page":"619","last_page":"627"},"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":0.993399977684021,"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":0.9398000240325928,"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/robustness","display_name":"Robustness (evolution)","score":0.767282247543335},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.7550326585769653},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7549451589584351},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6250054836273193},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5381615161895752},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.48301610350608826},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.45874932408332825},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4379105865955353},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40465977787971497},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37324559688568115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3571927845478058},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34914883971214294},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3040953278541565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14033067226409912},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08255133032798767}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.767282247543335},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.7550326585769653},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7549451589584351},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6250054836273193},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5381615161895752},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.48301610350608826},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.45874932408332825},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4379105865955353},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40465977787971497},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37324559688568115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3571927845478058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34914883971214294},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3040953278541565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14033067226409912},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08255133032798767},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2016.2557232","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2557232","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":[{"display_name":"Peace, Justice and strong institutions","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W90274328","https://openalex.org/W1530612844","https://openalex.org/W1540663716","https://openalex.org/W1576408494","https://openalex.org/W1634952812","https://openalex.org/W1687739456","https://openalex.org/W1964665851","https://openalex.org/W1968172492","https://openalex.org/W1978367897","https://openalex.org/W1984884934","https://openalex.org/W1997304447","https://openalex.org/W2031139625","https://openalex.org/W2069452254","https://openalex.org/W2093631839","https://openalex.org/W2096395363","https://openalex.org/W2098871947","https://openalex.org/W2111369225","https://openalex.org/W2112389721","https://openalex.org/W2119114094","https://openalex.org/W2124707628","https://openalex.org/W2127962152","https://openalex.org/W2127988032","https://openalex.org/W2136759462","https://openalex.org/W2139769822","https://openalex.org/W2165951625","https://openalex.org/W2171457282","https://openalex.org/W2202064845","https://openalex.org/W2212829691","https://openalex.org/W6667690755","https://openalex.org/W6677583659"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W2911148753","https://openalex.org/W1971748923","https://openalex.org/W2060986072","https://openalex.org/W1566155057","https://openalex.org/W2101882832","https://openalex.org/W4327694446","https://openalex.org/W1524683553","https://openalex.org/W2810725684","https://openalex.org/W2137525473"],"abstract_inverted_index":{"A":[0],"general":[1],"trajectory-tracking":[2],"control":[3,51,70],"solution":[4,28],"is":[5,53],"proposed":[6],"for":[7,83,88,122],"truly":[8],"N-trailer":[9],"robots":[10],"comprising":[11],"a":[12,37,42,61,68,89,123],"unicycle-like":[13],"tractor":[14],"and":[15,55,73,85,101,109],"arbitrary":[16],"number":[17,62],"of":[18,36,41,63,76,92,106],"passive":[19],"trailers":[20,64],"interconnected":[21],"by":[22,118],"sign-homogeneous":[23],"nonzero":[24],"hitching":[25],"offsets.":[26],"The":[27,49],"permits":[29],"either":[30],"backward":[31],"or":[32],"forward":[33],"motion":[34,103],"strategy":[35],"vehicle,":[38],"preserving":[39],"location":[40],"guidance":[43],"point":[44],"on":[45],"the":[46,77,93,107],"last":[47],"trailer.":[48],"presented":[50],"law":[52],"modular":[54],"highly":[56],"scalable":[57],"with":[58],"respect":[59],"to":[60,66,112],"thanks":[65],"employing":[67],"cascade-like":[69],"structure.":[71],"Stability":[72],"robustness":[74,111],"analysis":[75],"closed-loop":[78],"system":[79],"provides":[80],"sufficient":[81],"conditions":[82],"asymptotic":[84],"practical":[86],"tracking":[87],"wide":[90],"set":[91],"so-called":[94],"segment-platooning":[95],"reference":[96],"trajectories":[97],"containing":[98],"both":[99],"constant-curvature":[100],"varying-curvature":[102],"profiles.":[104],"Efficiency":[105],"controller":[108],"its":[110],"parametric":[113],"uncertainty":[114],"have":[115],"been":[116],"illustrated":[117],"experimental":[119],"results":[120],"obtained":[121],"three-trailer":[124],"vehicle.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}