{"id":"https://openalex.org/W2111908311","doi":"https://doi.org/10.1109/9.280771","title":"Robust motion/force control of mechanical systems with classical nonholonomic constraints","display_name":"Robust motion/force control of mechanical systems with classical nonholonomic constraints","publication_year":1994,"publication_date":"1994-03-01","ids":{"openalex":"https://openalex.org/W2111908311","doi":"https://doi.org/10.1109/9.280771","mag":"2111908311"},"language":"en","primary_location":{"id":"doi:10.1109/9.280771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/9.280771","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Automatic Control","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/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I212119943","display_name":"University of Victoria","ror":"https://ror.org/04s5mat29","country_code":"CA","type":"education","lineage":["https://openalex.org/I212119943"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chun-Yi Su","raw_affiliation_strings":["Department of Mechanical Engineering, University of Victoria, Victoria, Canada","[Dept. of Mech. Eng., Victoria Univ., BC, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Victoria, Victoria, Canada","institution_ids":["https://openalex.org/I212119943"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Victoria Univ., BC, Canada]","institution_ids":["https://openalex.org/I212119943"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001056597","display_name":"Y. Stepanenko","orcid":null},"institutions":[{"id":"https://openalex.org/I212119943","display_name":"University of Victoria","ror":"https://ror.org/04s5mat29","country_code":"CA","type":"education","lineage":["https://openalex.org/I212119943"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Y. Stepanenko","raw_affiliation_strings":["Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada","[Dept. of Mech. Eng., Victoria Univ., BC, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada","institution_ids":["https://openalex.org/I212119943"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Victoria Univ., BC, Canada]","institution_ids":["https://openalex.org/I212119943"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I212119943"],"apc_list":null,"apc_paid":null,"fwci":4.2444,"has_fulltext":false,"cited_by_count":126,"citation_normalized_percentile":{"value":0.94100339,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"3","first_page":"609","last_page":"614"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9984999895095825,"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":0.9973999857902527,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.7445248365402222},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6725797653198242},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5803369283676147},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5723733901977539},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5317935347557068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5045522451400757},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.494295597076416},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48080483078956604},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.45655766129493713},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4526717960834503},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4517669677734375},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.43985098600387573},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4362734854221344},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4024122953414917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36267995834350586},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.36135441064834595},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33860981464385986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2544076442718506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24783915281295776},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20935535430908203},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09530997276306152}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7445248365402222},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6725797653198242},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5803369283676147},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5723733901977539},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5317935347557068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5045522451400757},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.494295597076416},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48080483078956604},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.45655766129493713},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4526717960834503},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4517669677734375},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.43985098600387573},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4362734854221344},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4024122953414917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36267995834350586},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36135441064834595},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33860981464385986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2544076442718506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24783915281295776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20935535430908203},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09530997276306152},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/9.280771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/9.280771","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Automatic Control","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":26,"referenced_works":["https://openalex.org/W136616458","https://openalex.org/W1516079644","https://openalex.org/W1775521486","https://openalex.org/W1887006513","https://openalex.org/W1926410642","https://openalex.org/W1970041746","https://openalex.org/W1971044547","https://openalex.org/W1981174120","https://openalex.org/W1985886765","https://openalex.org/W2008720902","https://openalex.org/W2016302070","https://openalex.org/W2040234764","https://openalex.org/W2083483041","https://openalex.org/W2088085314","https://openalex.org/W2089382940","https://openalex.org/W2093944066","https://openalex.org/W2108488477","https://openalex.org/W2113291050","https://openalex.org/W2119361079","https://openalex.org/W2126525445","https://openalex.org/W2129135315","https://openalex.org/W2147240540","https://openalex.org/W2152737511","https://openalex.org/W2166559639","https://openalex.org/W2168090892","https://openalex.org/W4254193388"],"related_works":["https://openalex.org/W1542582640","https://openalex.org/W2010978377","https://openalex.org/W2118707471","https://openalex.org/W2152027339","https://openalex.org/W2329610818","https://openalex.org/W2464404770","https://openalex.org/W2618933999","https://openalex.org/W2040709815","https://openalex.org/W3149609083","https://openalex.org/W1979214560"],"abstract_inverted_index":{"The":[0],"position/force":[1],"control":[2,19,63],"of":[3,10,18,40,55,58,73],"mechanical":[4],"systems":[5],"subject":[6],"to":[7,46,83],"a":[8,24,61],"set":[9],"classical":[11],"nonholonomic":[12],"constraints":[13],"represents":[14],"an":[15],"important":[16],"class":[17],"problems.":[20],"In":[21],"this":[22],"note,":[23],"reduced":[25],"dynamic":[26,42],"model,":[27],"suitable":[28],"for":[29],"simultaneous":[30],"independent":[31],"motion":[32],"and":[33],"force":[34],"control,":[35],"is":[36,65,81],"developed.":[37],"Some":[38],"properties":[39],"the":[41,48,53,69,74,85],"model":[43],"are":[44],"exploited":[45],"facilitate":[47],"controller":[49],"design.":[50],"Based":[51],"on":[52],"theory":[54],"guaranteed":[56],"stability":[57],"uncertain":[59],"systems,":[60],"robust":[62],"algorithm":[64],"derived,":[66],"which":[67],"guarantees":[68],"uniform":[70],"ultimate":[71],"boundedness":[72],"tracking":[75],"errors.":[76],"A":[77],"detailed":[78],"numerical":[79],"example":[80],"presented":[82],"illustrate":[84],"developed":[86],"method.<":[87],"<ETX":[88],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[89],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>":[90]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
