{"id":"https://openalex.org/W3158967293","doi":"https://doi.org/10.1109/tcst.2022.3158233","title":"Safety-Augmented Operation of Mobile Robots Using Variable Structure Control","display_name":"Safety-Augmented Operation of Mobile Robots Using Variable Structure Control","publication_year":2022,"publication_date":"2022-03-21","ids":{"openalex":"https://openalex.org/W3158967293","doi":"https://doi.org/10.1109/tcst.2022.3158233","mag":"3158967293"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2022.3158233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3158233","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/A5026056269","display_name":"Azad Ghaffari","orcid":"https://orcid.org/0000-0003-4105-0963"},"institutions":[{"id":"https://openalex.org/I185443292","display_name":"Wayne State University","ror":"https://ror.org/01070mq45","country_code":"US","type":"education","lineage":["https://openalex.org/I185443292"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Azad Ghaffari","raw_affiliation_strings":["Department of Mechanical Engineering, Wayne State University, Detroit, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-4105-0963","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Wayne State University, Detroit, MI, USA","institution_ids":["https://openalex.org/I185443292"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001669534","display_name":"Seyed Amir Hosseini Dastja","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114368","display_name":"Danieli (Italy)","ror":"https://ror.org/020pyx735","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210114368"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Seyed Amir Hosseini Dastja","raw_affiliation_strings":["Danieli Automation, Buttrio, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Danieli Automation, Buttrio, Italy","institution_ids":["https://openalex.org/I4210114368"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2195,"currency":"USD","value_usd":2195},"apc_paid":null,"fwci":0.6629,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.6489909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"30","issue":"6","first_page":"2751","last_page":"2758"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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":0.6914043426513672},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.61088627576828},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5885810852050781},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5609728693962097},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5538738965988159},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5429830551147461},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5273215174674988},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5233123302459717},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5017898082733154},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46061018109321594},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4408326745033264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4351613521575928},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.43220147490501404},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41926848888397217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4012913703918457},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22702401876449585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13560667634010315},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10393816232681274}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6914043426513672},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.61088627576828},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5885810852050781},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5609728693962097},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5538738965988159},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5429830551147461},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5273215174674988},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5233123302459717},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5017898082733154},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46061018109321594},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4408326745033264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4351613521575928},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.43220147490501404},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41926848888397217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4012913703918457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22702401876449585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13560667634010315},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10393816232681274},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2022.3158233","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3158233","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1967394491","https://openalex.org/W1967473336","https://openalex.org/W1968975597","https://openalex.org/W1981284637","https://openalex.org/W2002440441","https://openalex.org/W2015162542","https://openalex.org/W2032325911","https://openalex.org/W2049826004","https://openalex.org/W2069830673","https://openalex.org/W2102537836","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2112930335","https://openalex.org/W2113122194","https://openalex.org/W2115632170","https://openalex.org/W2117211893","https://openalex.org/W2129729773","https://openalex.org/W2136947569","https://openalex.org/W2144426941","https://openalex.org/W2156142530","https://openalex.org/W2171841639","https://openalex.org/W2238345790","https://openalex.org/W2560504659","https://openalex.org/W2790268363","https://openalex.org/W2886268387","https://openalex.org/W2912480891","https://openalex.org/W2914003710","https://openalex.org/W2937598023","https://openalex.org/W2946036483","https://openalex.org/W2963393582","https://openalex.org/W2966836819","https://openalex.org/W2971648077","https://openalex.org/W2972533956","https://openalex.org/W2973185801","https://openalex.org/W2980300602","https://openalex.org/W2982317384","https://openalex.org/W3012358068","https://openalex.org/W3015470607","https://openalex.org/W3045951893","https://openalex.org/W3098925401","https://openalex.org/W4213277547","https://openalex.org/W4233979879"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W2906946336","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"The":[0,93,113,154,175],"design":[1,25,101,156],"process":[2],"and":[3,29,64,105,140,143,146,171],"complexity":[4,48],"of":[5,16,23,32,168,177],"existing":[6],"safety":[7,66,80,99,114,141,145],"controls":[8],"are":[9,91,149],"heavily":[10],"determined":[11],"by":[12,124],"the":[13,17,21,33,45,50,126,138,165,169,178],"geometrical":[14,47],"properties":[15],"environment,":[18],"which":[19,163],"affects":[20],"proof":[22],"convergence,":[24],"scalability,":[26],"performance":[27],"robustness,":[28],"numerical":[30],"efficiency":[31],"control.":[34,67],"Hence,":[35],"this":[36],"brief":[37],"proposes":[38],"a":[39,78,121,131],"variable":[40],"structure":[41],"control":[42,51,69,100,115,173],"to":[43,59,119,136],"isolate":[44],"environment\u2019s":[46],"from":[49],"structure.":[52],"A":[53],"super-twisting":[54],"algorithm":[55,170],"(STA)":[56],"is":[57,70,85,96,134,157,181],"used":[58],"achieve":[60],"accurate":[61],"trajectory":[62],"tracking":[63,148],"robust":[65],"Safety":[68],"designed":[71],"solely":[72],"based":[73],"on":[74],"distance":[75,117,123],"measurement.":[76],"First,":[77],"nominal":[79,94],"model":[81,95],"for":[82,98,102],"obstacle":[83,103],"avoidance":[84,104],"derived,":[86],"where":[87],"realistic":[88],"system":[89],"constraints":[90],"considered.":[92],"well-suited":[97],"border":[106],"patrol":[107],"with":[108,159],"analytically":[109],"proven":[110,150],"stability":[111,139],"results.":[112],"uses":[116],"measurement":[118],"maintain":[120],"safe":[122],"compensating":[125],"robot\u2019s":[127],"angular":[128],"velocity.":[129],"Also,":[130],"supervisory":[132],"logic":[133],"constructed":[135],"unify":[137],"features,":[142],"operational":[144],"precision":[147],"under":[151],"parametric":[152],"uncertainty.":[153],"proposed":[155,179],"modular":[158],"minimal":[160],"tuning":[161],"parameters,":[162],"reduces":[164],"computational":[166],"burden":[167],"improves":[172],"scalability.":[174],"effectiveness":[176],"method":[180],"verified":[182],"against":[183],"various":[184],"case":[185],"studies.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
