{"id":"https://openalex.org/W2620821335","doi":"https://doi.org/10.1109/tie.2017.2711500","title":"Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR","display_name":"Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR","publication_year":2017,"publication_date":"2017-06-02","ids":{"openalex":"https://openalex.org/W2620821335","doi":"https://doi.org/10.1109/tie.2017.2711500","mag":"2620821335"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2017.2711500","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2017.2711500","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tie.2017.2711500","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018126302","display_name":"Jianqiu Mu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianqiu Mu","raw_affiliation_strings":["Instrumentation, Control and Embedded Systems Research Group, School of Engineering and Digital Arts, University of Kent, Canterbury, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instrumentation, Control and Embedded Systems Research Group, School of Engineering and Digital Arts, University of Kent, Canterbury, U.K","institution_ids":["https://openalex.org/I4210145666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045495633","display_name":"Xing\u2010Gang Yan","orcid":"https://orcid.org/0000-0003-2217-8398"},"institutions":[{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xing-Gang Yan","raw_affiliation_strings":["Instrumentation, Control and Embedded Systems Research Group, School of Engineering and Digital Arts, University of Kent, Canterbury, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instrumentation, Control and Embedded Systems Research Group, School of Engineering and Digital Arts, University of Kent, Canterbury, U.K","institution_ids":["https://openalex.org/I4210145666"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091844693","display_name":"Sarah K. Spurgeon","orcid":"https://orcid.org/0000-0003-3451-0650"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sarah K. Spurgeon","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, University College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047094357","display_name":"Zehui Mao","orcid":"https://orcid.org/0000-0002-3189-5359"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehui Mao","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9662,"has_fulltext":true,"cited_by_count":38,"citation_normalized_percentile":{"value":0.90727307,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"64","issue":"8","first_page":"6714","last_page":"6723"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9968000054359436,"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":0.8474332094192505},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7686514258384705},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.7174265384674072},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6978785991668701},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6747649312019348},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.565840482711792},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.48370248079299927},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.43945014476776123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43457353115081787},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.42805641889572144},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3576803505420685},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3427736759185791},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3329637348651886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3296043276786804},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19475609064102173},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16384977102279663},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08908826112747192}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8474332094192505},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7686514258384705},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.7174265384674072},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6978785991668701},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6747649312019348},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.565840482711792},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.48370248079299927},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43945014476776123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43457353115081787},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.42805641889572144},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3576803505420685},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3427736759185791},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3329637348651886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3296043276786804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19475609064102173},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16384977102279663},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08908826112747192},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tie.2017.2711500","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2017.2711500","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:kar.kent.ac.uk:62020","is_oa":true,"landing_page_url":"https://doi.org/10.1109/TIE.2017.2711500>)","pdf_url":"https://kar.kent.ac.uk/62020/1/ALL_16-TIE-2222.pdf","source":{"id":"https://openalex.org/S4377196264","display_name":"Kent Academic Repository (University of Kent)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20581793","host_organization_name":"University of Kent","host_organization_lineage":["https://openalex.org/I20581793"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1569141","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/1569141/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Industrial Electronics , 64 (8) pp. 6714-6723. (2017)","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/tie.2017.2711500","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2017.2711500","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8124993113","display_name":null,"funder_award_id":"61573180","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1516447630","https://openalex.org/W1537842733","https://openalex.org/W1887006513","https://openalex.org/W1973564057","https://openalex.org/W1980765536","https://openalex.org/W1988572219","https://openalex.org/W2007454641","https://openalex.org/W2007724082","https://openalex.org/W2010586405","https://openalex.org/W2011410566","https://openalex.org/W2026288276","https://openalex.org/W2027943326","https://openalex.org/W2036101221","https://openalex.org/W2042164007","https://openalex.org/W2043252047","https://openalex.org/W2089161570","https://openalex.org/W2089746344","https://openalex.org/W2095584834","https://openalex.org/W2100514121","https://openalex.org/W2115752768","https://openalex.org/W2115990616","https://openalex.org/W2120932933","https://openalex.org/W2122561468","https://openalex.org/W2126826364","https://openalex.org/W2127516259","https://openalex.org/W2150531296","https://openalex.org/W2157671726","https://openalex.org/W2170072360","https://openalex.org/W2319292949","https://openalex.org/W2420367108","https://openalex.org/W2520134048","https://openalex.org/W2564949869","https://openalex.org/W3160954918","https://openalex.org/W4256152864","https://openalex.org/W4256153703"],"related_works":["https://openalex.org/W2392286806","https://openalex.org/W1540092872","https://openalex.org/W2064550392","https://openalex.org/W2161728539","https://openalex.org/W2612178181","https://openalex.org/W2746785829","https://openalex.org/W2110936316","https://openalex.org/W1577787739","https://openalex.org/W3005694449","https://openalex.org/W2056209398"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,17,58,65,81,89],"generalized":[4],"regular":[5],"form":[6],"is":[7,27,39,69,85,113],"proposed":[8,47],"to":[9,48,52,71,88,106],"facilitate":[10],"sliding":[11,25,37,54,59],"mode":[12,44],"control":[13,63,79],"(SMC)":[14],"design":[15],"for":[16,92],"class":[18],"of":[19,64,80,121],"nonlinear":[20,24],"systems.":[21],"A":[22],"novel":[23],"surface":[26,55],"designed":[28],"using":[29],"implicit":[30],"function":[31],"theory":[32],"such":[33],"that":[34,108,132],"the":[35,50,53,73,93,100,109,119,133],"resulting":[36],"motion":[38,60],"globally":[40,114],"asymptotically":[41,115],"stable.":[42],"Sliding":[43],"controllers":[45],"are":[46,104,136],"drive":[49],"system":[51,112],"and":[56,98,123,128,138],"maintain":[57],"thereafter.":[61],"Tracking":[62],"two-wheeled":[66],"mobile":[67,83],"robot":[68,84],"considered":[70],"underpin":[72],"developed":[74,101,134],"theoretical":[75,102],"results.":[76],"Model-based":[77],"tracking":[78,95,110],"wheeled":[82],"first":[86],"transferred":[87],"stabilization":[90],"problem":[91],"corresponding":[94],"error":[96,111],"system,":[97],"then":[99],"results":[103,130,135],"applied":[105],"show":[107],"stable":[116],"even":[117],"in":[118],"presence":[120],"matched":[122],"mismatched":[124],"uncertainties.":[125],"Both":[126],"experimental":[127],"simulation":[129],"demonstrate":[131],"practicable":[137],"effective.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2017-06-09T00:00:00"}
