{"id":"https://openalex.org/W4405934996","doi":"https://doi.org/10.1109/tvt.2024.3520644","title":"Adaptive Prescribed-Time Formation Control for Nonholonomic Vehicles Subject to Uncertain Disturbances","display_name":"Adaptive Prescribed-Time Formation Control for Nonholonomic Vehicles Subject to Uncertain Disturbances","publication_year":2024,"publication_date":"2024-12-31","ids":{"openalex":"https://openalex.org/W4405934996","doi":"https://doi.org/10.1109/tvt.2024.3520644"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3520644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3520644","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular 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/A5018696336","display_name":"Shulong Zhao","orcid":"https://orcid.org/0000-0002-9610-962X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shulong Zhao","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103219459","display_name":"Jiayi Zheng","orcid":"https://orcid.org/0000-0002-3406-1544"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayi Zheng","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101985392","display_name":"Xiangke Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangke Wang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018696336"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":1.6141,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84726029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"74","issue":"4","first_page":"5676","last_page":"5686"},"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":0.996399998664856,"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":0.996399998664856,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9916999936103821,"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"}},{"id":"https://openalex.org/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.6094719171524048},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5559897422790527},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5517164468765259},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5158107280731201},{"id":"https://openalex.org/keywords/subject","display_name":"Subject (documents)","score":0.49148619174957275},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48048344254493713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4626200497150421},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43217456340789795},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38894256949424744},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2541844844818115},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.18563079833984375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17203810811042786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13973331451416016}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6094719171524048},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5559897422790527},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5517164468765259},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5158107280731201},{"id":"https://openalex.org/C2777855551","wikidata":"https://www.wikidata.org/wiki/Q12310021","display_name":"Subject (documents)","level":2,"score":0.49148619174957275},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48048344254493713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4626200497150421},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43217456340789795},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38894256949424744},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2541844844818115},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.18563079833984375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17203810811042786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13973331451416016},{"id":"https://openalex.org/C161191863","wikidata":"https://www.wikidata.org/wiki/Q199655","display_name":"Library science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3520644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3520644","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G3748891951","display_name":null,"funder_award_id":"U23B2032","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":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2146081132","https://openalex.org/W2214735220","https://openalex.org/W2562634333","https://openalex.org/W2810529438","https://openalex.org/W2932966811","https://openalex.org/W2944407614","https://openalex.org/W2946526660","https://openalex.org/W3109767144","https://openalex.org/W3156330606","https://openalex.org/W3216449291","https://openalex.org/W4210260233","https://openalex.org/W4226342866","https://openalex.org/W4288059575","https://openalex.org/W4312331103","https://openalex.org/W4312360464","https://openalex.org/W4312777405","https://openalex.org/W4313590821","https://openalex.org/W4319303010","https://openalex.org/W4322576460","https://openalex.org/W4378648050","https://openalex.org/W4380881516","https://openalex.org/W4381232994","https://openalex.org/W4381327844","https://openalex.org/W4388624482","https://openalex.org/W4389076384","https://openalex.org/W4396214281","https://openalex.org/W4396215064","https://openalex.org/W4398151554","https://openalex.org/W4399110476","https://openalex.org/W4399417113","https://openalex.org/W4402809026","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W4287028639","https://openalex.org/W2969358681","https://openalex.org/W2112559358","https://openalex.org/W2107122120","https://openalex.org/W194970950","https://openalex.org/W2342009288"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"adaptive":[4,33,84],"prescribed-time":[5,34],"formation":[6],"control":[7],"protocol":[8,106],"based":[9],"on":[10],"time":[11,64],"scaling":[12],"state":[13],"mapping":[14],"for":[15,38],"nonholonomic":[16,20,54],"vehicles.":[17,122],"First,":[18],"the":[19,39,43,49,58,70,74,91,101,104,108,111,115,121],"vehicle":[21],"is":[22],"divided":[23],"into":[24],"position":[25],"and":[26,42,83,107,117],"attitude":[27],"subsystems":[28],"through":[29],"coordinate":[30],"transformation.":[31],"Then,":[32],"controllers":[35,116],"are":[36,86,97],"designed":[37],"two":[40],"subsystems,":[41],"corollary":[44],"of":[45,73,103,110,120],"Barbalat's":[46],"lemma":[47],"proves":[48],"stability.":[50],"It":[51],"guarantees":[52],"that":[53],"vehicles":[55],"can":[56,76],"track":[57],"desired":[59,67],"trajectory":[60],"within":[61],"a":[62,66,80],"prescribed":[63],"in":[65,114],"formation.":[68],"Moreover,":[69],"convergence":[71],"rate":[72],"system":[75],"be":[77],"tuned":[78],"via":[79],"regulated":[81,112],"parameter,":[82],"laws":[85],"employed":[87],"to":[88,99],"deal":[89],"with":[90],"uncertain":[92],"disturbances.":[93],"Finally,":[94],"numerical":[95],"simulations":[96],"introduced":[98],"demonstrate":[100],"feasibility":[102],"proposed":[105],"influence":[109],"parameter":[113],"initial":[118],"states":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
