{"id":"https://openalex.org/W3000180857","doi":"https://doi.org/10.1109/tsmc.2019.2962732","title":"Targeting Posture Control With Dynamic Obstacle Avoidance of Constrained Uncertain Wheeled Mobile Robots Including Unknown Skidding and Slipping","display_name":"Targeting Posture Control With Dynamic Obstacle Avoidance of Constrained Uncertain Wheeled Mobile Robots Including Unknown Skidding and Slipping","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W3000180857","doi":"https://doi.org/10.1109/tsmc.2019.2962732","mag":"3000180857"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2019.2962732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2962732","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5073862892","display_name":"Qun Lu","orcid":"https://orcid.org/0000-0002-3766-2548"},"institutions":[{"id":"https://openalex.org/I4210157719","display_name":"Yancheng Institute of Technology","ror":"https://ror.org/04y8njc86","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210157719"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qun Lu","raw_affiliation_strings":["College of Electrical Engineering, Yancheng Institute of Technology, Yancheng, China","Department of Automation, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-3766-2548","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Yancheng Institute of Technology, Yancheng, China","institution_ids":["https://openalex.org/I4210157719"]},{"raw_affiliation_string":"Department of Automation, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100456014","display_name":"Dan Zhang","orcid":"https://orcid.org/0000-0002-1183-2166"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Zhang","raw_affiliation_strings":["Department of Automation, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1183-2166","affiliations":[{"raw_affiliation_string":"Department of Automation, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091755929","display_name":"Wenjun Ye","orcid":"https://orcid.org/0000-0002-3107-1130"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wenjun Ye","raw_affiliation_strings":["Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072623207","display_name":"Jing-yu Fan","orcid":"https://orcid.org/0000-0001-6451-8990"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jingyu Fan","raw_affiliation_strings":["Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0001-6451-8990","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010945720","display_name":"Steven Liu","orcid":"https://orcid.org/0000-0002-3407-2745"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steven Liu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Kaiserslautern, Institute of Control Systems, Kaiserslautern, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3407-2745","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Kaiserslautern, Institute of Control Systems, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]},{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Chun-Yi Su","raw_affiliation_strings":["Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","School of Automation, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1869-5563","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0816,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.94138989,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"51","issue":"11","first_page":"6650","last_page":"6659"},"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/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/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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/control-theory","display_name":"Control theory (sociology)","score":0.8419711589813232},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.7113776206970215},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6439304351806641},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6085618138313293},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5930519104003906},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5618837475776672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5465968251228333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5000441074371338},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4493749439716339},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43675318360328674},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4172728955745697},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37556198239326477},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22206109762191772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16434112191200256}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8419711589813232},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7113776206970215},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6439304351806641},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6085618138313293},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5930519104003906},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5618837475776672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5465968251228333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5000441074371338},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4493749439716339},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43675318360328674},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4172728955745697},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37556198239326477},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22206109762191772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16434112191200256},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2019.2962732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2962732","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G410531168","display_name":null,"funder_award_id":"xjr2019017","funder_id":"https://openalex.org/F4320313216","funder_display_name":"Yancheng Institute of Technology"},{"id":"https://openalex.org/G6337864644","display_name":"\u6ede\u73af\u975e\u7ebf\u6027\u7cfb\u7edf\u7684\u5efa\u6a21\u4e0e\u63a7\u5236\u6280\u672f\u7814\u7a76","funder_award_id":"61733006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6685440959","display_name":null,"funder_award_id":"xjr2019018","funder_id":"https://openalex.org/F4320313216","funder_display_name":"Yancheng Institute of Technology"},{"id":"https://openalex.org/G8017412130","display_name":"\u5316\u5b66\u6210\u50cf\u4e0e\u4e8c\u7ef4\u76f8\u5173\u534f\u540c\u673a\u5236\u4e0b\u79cd\u5b50\u51bb\u5bb3\u7279\u5f81\u5206\u6790\u4e0e\u8bc6\u522b","funder_award_id":"61873231","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320313216","display_name":"Yancheng Institute of Technology","ror":"https://ror.org/04y8njc86"},{"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":43,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1545775168","https://openalex.org/W1971044547","https://openalex.org/W1975197278","https://openalex.org/W1979195338","https://openalex.org/W1983526786","https://openalex.org/W1986107377","https://openalex.org/W1999502602","https://openalex.org/W2033699235","https://openalex.org/W2038347629","https://openalex.org/W2069612046","https://openalex.org/W2078162893","https://openalex.org/W2081242007","https://openalex.org/W2099441085","https://openalex.org/W2099761232","https://openalex.org/W2100165947","https://openalex.org/W2102620728","https://openalex.org/W2105030558","https://openalex.org/W2112048335","https://openalex.org/W2122561468","https://openalex.org/W2127988032","https://openalex.org/W2128698518","https://openalex.org/W2133361850","https://openalex.org/W2134966857","https://openalex.org/W2139711799","https://openalex.org/W2147600827","https://openalex.org/W2148319451","https://openalex.org/W2163290424","https://openalex.org/W2163855442","https://openalex.org/W2169082695","https://openalex.org/W2286082179","https://openalex.org/W2345110532","https://openalex.org/W2388591084","https://openalex.org/W2526933392","https://openalex.org/W2765877665","https://openalex.org/W2779675674","https://openalex.org/W2793201052","https://openalex.org/W2794073868","https://openalex.org/W2936244770","https://openalex.org/W2950312551","https://openalex.org/W4251796993","https://openalex.org/W6642962755","https://openalex.org/W6749875281"],"related_works":["https://openalex.org/W2906946336","https://openalex.org/W2938416672","https://openalex.org/W2146611987","https://openalex.org/W4366439405","https://openalex.org/W4389432327","https://openalex.org/W4289599435","https://openalex.org/W2132660247","https://openalex.org/W2098534227","https://openalex.org/W3126153333","https://openalex.org/W2155757393"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,34,45,49,53,71,110,123],"targeting":[4,54],"posture":[5,51,55],"control":[6,38,74,150],"approach":[7],"with":[8],"dynamic":[9,57,105],"obstacle":[10],"avoidance":[11],"of":[12,22,65,93,135,147],"differential-drive":[13],"wheeled":[14],"mobile":[15],"robot":[16,137],"(WMR)":[17],"systems":[18],"in":[19,59,103],"the":[20,60,66,77,83,87,91,94,104,117,132,136,140,145,148],"presence":[21],"unknown":[23,95],"skidding,":[24,96],"slipping,":[25,97],"input":[26,98],"disturbances,":[27,99],"model":[28,36,101,106],"uncertainties,":[29],"and":[30,62,100],"torque":[31],"saturation.":[32],"First,":[33],"nonlinear":[35],"predictive":[37],"(NMPC)":[39],"scheme":[40],"is":[41,80,114,128,152],"presented":[42],"to":[43,52,85,130,139],"generate":[44],"feasible":[46],"trajectory":[47],"from":[48],"starting":[50],"where":[56],"obstacles":[58],"environment":[61],"physical":[63],"constraints":[64],"robots":[67,84],"are":[68],"considered.":[69],"Second,":[70],"robust":[72],"virtual":[73,141],"law":[75],"at":[76],"kinematic":[78],"level":[79],"introduced":[81],"for":[82],"follow":[86],"trajectory.":[88],"Third,":[89],"taking":[90],"consideration":[92],"uncertainties":[102],"being":[107],"lumped":[108],"as":[109],"total":[111],"disturbance,":[112],"which":[113],"estimated":[115],"by":[116,154],"linear":[118],"extended":[119],"state":[120],"observer":[121],"(LESO),":[122],"disturbance":[124],"compensation-based":[125],"saturation":[126],"controller":[127],"designed":[129],"make":[131],"real":[133],"velocity":[134,142],"converge":[138],"command.":[143],"Finally,":[144],"effectiveness":[146],"proposed":[149],"strategy":[151],"verified":[153],"simulation":[155],"results.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
