{"id":"https://openalex.org/W4385859331","doi":"https://doi.org/10.1109/tcst.2023.3300273","title":"Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots","display_name":"Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4385859331","doi":"https://doi.org/10.1109/tcst.2023.3300273"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3300273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3300273","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-04390587/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010475845","display_name":"Yu Zhou","orcid":"https://orcid.org/0000-0002-6160-8322"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yu Zhou","raw_affiliation_strings":["Inria, CNRS, Centrale Lille, University of Lille, Lille, France"],"raw_orcid":"https://orcid.org/0000-0002-6160-8322","affiliations":[{"raw_affiliation_string":"Inria, CNRS, Centrale Lille, University of Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001847375","display_name":"H\u00e9ctor R\u00edos","orcid":"https://orcid.org/0000-0002-7169-9950"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"H\u00e9ctor R\u00edos","raw_affiliation_strings":["Tecnológico Nacional de México/I.T. La Laguna, Torreón, Coahuila, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-7169-9950","affiliations":[{"raw_affiliation_string":"Tecnológico Nacional de México/I.T. La Laguna, Torreón, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061871947","display_name":"Manuel Mera","orcid":"https://orcid.org/0000-0002-9167-9084"},"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":false,"raw_author_name":"Manuel Mera","raw_affiliation_strings":["Instituto Politécnico Nacional, ESIME Ticomán, Mexico City, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-9167-9084","affiliations":[{"raw_affiliation_string":"Instituto Politécnico Nacional, ESIME Ticomán, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080470963","display_name":"Andrey Polyakov","orcid":"https://orcid.org/0000-0002-5876-3495"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrey Polyakov","raw_affiliation_strings":["Inria, CNRS, Centrale Lille, University of Lille, Lille, France"],"raw_orcid":"https://orcid.org/0000-0002-5876-3495","affiliations":[{"raw_affiliation_string":"Inria, CNRS, Centrale Lille, University of Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038119641","display_name":"Gang Zheng","orcid":"https://orcid.org/0000-0002-5671-7700"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I7454413","display_name":"\u00c9cole Centrale de Lille","ror":"https://ror.org/01x441g73","country_code":"FR","type":"education","lineage":["https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gang Zheng","raw_affiliation_strings":["Inria, CNRS, Centrale Lille, University of Lille, Lille, France"],"raw_orcid":"https://orcid.org/0000-0002-5671-7700","affiliations":[{"raw_affiliation_string":"Inria, CNRS, Centrale Lille, University of Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I7454413","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049838472","display_name":"Alejandro Dzul","orcid":"https://orcid.org/0000-0002-7555-8338"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Alejandro Dzul","raw_affiliation_strings":["Tecnológico Nacional de México/I.T. La Laguna, Torreón, Coahuila, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-7555-8338","affiliations":[{"raw_affiliation_string":"Tecnológico Nacional de México/I.T. La Laguna, Torreón, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0651,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.86913929,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"32","issue":"1","first_page":"274","last_page":"281"},"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":0.9987999796867371,"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":0.9961000084877014,"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/homogeneity","display_name":"Homogeneity (statistics)","score":0.8089951276779175},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7239800095558167},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5929147601127625},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5157268643379211},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5155763030052185},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49218884110450745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4837227165699005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3666437864303589},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3508028984069824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32973772287368774},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08286356925964355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08228355646133423},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.059332311153411865}],"concepts":[{"id":"https://openalex.org/C142259097","wikidata":"https://www.wikidata.org/wiki/Q5891314","display_name":"Homogeneity (statistics)","level":2,"score":0.8089951276779175},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7239800095558167},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5929147601127625},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5157268643379211},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5155763030052185},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49218884110450745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4837227165699005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3666437864303589},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3508028984069824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32973772287368774},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08286356925964355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08228355646133423},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.059332311153411865},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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":3,"locations":[{"id":"doi:10.1109/tcst.2023.3300273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3300273","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"},{"id":"pmh:oai:HAL:hal-04390587v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04390587","pdf_url":"https://hal.science/hal-04390587/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 2024, 32 (1), pp.274-281. ⟨10.1109/TCST.2023.3300273⟩","raw_type":"Journal articles"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/101438","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04390587v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04390587","pdf_url":"https://hal.science/hal-04390587/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 2024, 32 (1), pp.274-281. ⟨10.1109/TCST.2023.3300273⟩","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7013048104","display_name":null,"funder_award_id":"62050410352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385859331.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1536334154","https://openalex.org/W1826072041","https://openalex.org/W1970299051","https://openalex.org/W1975867865","https://openalex.org/W1996426538","https://openalex.org/W1996764834","https://openalex.org/W2011623840","https://openalex.org/W2013413351","https://openalex.org/W2015599646","https://openalex.org/W2017493230","https://openalex.org/W2042444081","https://openalex.org/W2053129570","https://openalex.org/W2080209002","https://openalex.org/W2080688746","https://openalex.org/W2092991598","https://openalex.org/W2104929776","https://openalex.org/W2105715067","https://openalex.org/W2131417107","https://openalex.org/W2147600827","https://openalex.org/W2149012351","https://openalex.org/W2154608673","https://openalex.org/W2162750481","https://openalex.org/W2208948996","https://openalex.org/W2557771892","https://openalex.org/W2732668885","https://openalex.org/W2760387103","https://openalex.org/W2786600126","https://openalex.org/W2790447963","https://openalex.org/W2803498590","https://openalex.org/W2811464482","https://openalex.org/W2997601858","https://openalex.org/W3039554009","https://openalex.org/W4210512369","https://openalex.org/W6858717844"],"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],"deals":[2],"with":[3,13],"the":[4,8,32,43,52,61,71,79,82,87],"tracking":[5],"problem":[6],"for":[7],"unicycle":[9],"mobile":[10],"robot":[11],"(UMR)":[12],"slippage":[14],"effects.":[15],"A":[16],"homogeneous":[17,45,84],"controller":[18],"(HC)":[19],"is":[20,35,39],"developed":[21],"based":[22,41],"on":[23,42],"a":[24,48,67],"particular":[25],"cascade":[26],"control":[27,85],"strategy.":[28],"The":[29,37,54],"robustness":[30],"of":[31,51,60,70,81],"closed-loop":[33],"system":[34],"studied.":[36],"design":[38],"essentially":[40],"canonical":[44],"norm":[46],"being":[47],"Lyapunov":[49],"function":[50],"system.":[53],"(finite-time":[55],"or":[56],"exponential)":[57],"convergence":[58],"rate":[59],"HC":[62],"can":[63],"be":[64],"tuned":[65],"by":[66,90],"proper":[68],"selection":[69],"so-called":[72],"homogeneity":[73],"degree.":[74],"Some":[75],"experimental":[76],"results":[77],"illustrate":[78],"performance":[80],"proposed":[83],"in":[86],"UMR":[88],"QBot2":[89],"Quanser.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}