{"id":"https://openalex.org/W2346144533","doi":"https://doi.org/10.1134/s0005117916040044","title":"Synthesis of a stabilizing feedback for a wheeled robot with constrained control resource","display_name":"Synthesis of a stabilizing feedback for a wheeled robot with constrained control resource","publication_year":2016,"publication_date":"2016-04-01","ids":{"openalex":"https://openalex.org/W2346144533","doi":"https://doi.org/10.1134/s0005117916040044","mag":"2346144533"},"language":"en","primary_location":{"id":"doi:10.1134/s0005117916040044","is_oa":false,"landing_page_url":"https://doi.org/10.1134/s0005117916040044","pdf_url":null,"source":{"id":"https://openalex.org/S134188425","display_name":"Automation and Remote Control","issn_l":"0005-1179","issn":["0005-1179","1608-3032"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automation and Remote 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/A5006536153","display_name":"\u0410. \u0412. \u041f\u0435\u0441\u0442\u0435\u0440\u0435\u0432","orcid":"https://orcid.org/0000-0002-5230-0836"},"institutions":[{"id":"https://openalex.org/I4210157430","display_name":"V. A. Trapeznikov Institute of Control Sciences","ror":"https://ror.org/05f3yt521","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210157430","https://openalex.org/I4210164537"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"A. V. Pesterev","raw_affiliation_strings":["Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia","institution_ids":["https://openalex.org/I4210157430"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5006536153"],"corresponding_institution_ids":["https://openalex.org/I4210157430"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.03098705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"77","issue":"4","first_page":"578","last_page":"593"},"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":0.9995999932289124,"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":0.9995999932289124,"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/T12396","display_name":"Advanced Differential Equations and Dynamical Systems","score":0.9728999733924866,"subfield":{"id":"https://openalex.org/subfields/2608","display_name":"Geometry and Topology"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9632999897003174,"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":0.7510721683502197},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6971867084503174},{"id":"https://openalex.org/keywords/phase-portrait","display_name":"Phase portrait","score":0.6064963936805725},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5448087453842163},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5423132181167603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49407365918159485},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4264662265777588},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4214223027229309},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4179459810256958},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3531743884086609},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33931392431259155},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15535259246826172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10918515920639038},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.0737149715423584},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0621207058429718}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7510721683502197},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6971867084503174},{"id":"https://openalex.org/C122283620","wikidata":"https://www.wikidata.org/wiki/Q2532943","display_name":"Phase portrait","level":4,"score":0.6064963936805725},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5448087453842163},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5423132181167603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49407365918159485},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4264662265777588},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4214223027229309},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4179459810256958},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3531743884086609},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33931392431259155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15535259246826172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10918515920639038},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.0737149715423584},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0621207058429718},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1134/s0005117916040044","is_oa":false,"landing_page_url":"https://doi.org/10.1134/s0005117916040044","pdf_url":null,"source":{"id":"https://openalex.org/S134188425","display_name":"Automation and Remote Control","issn_l":"0005-1179","issn":["0005-1179","1608-3032"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automation and Remote Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.41999998688697815,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334801","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W611374055","https://openalex.org/W1424654272","https://openalex.org/W1523097573","https://openalex.org/W1553616171","https://openalex.org/W1558979968","https://openalex.org/W1687739456","https://openalex.org/W1970359210","https://openalex.org/W1982225975","https://openalex.org/W1993365856","https://openalex.org/W2056559889","https://openalex.org/W2060884785","https://openalex.org/W2066705705","https://openalex.org/W2611243847","https://openalex.org/W2906025177"],"related_works":["https://openalex.org/W2339458745","https://openalex.org/W2009968757","https://openalex.org/W3014342693","https://openalex.org/W2896733099","https://openalex.org/W1991109537","https://openalex.org/W2561007490","https://openalex.org/W2381885241","https://openalex.org/W2378325730","https://openalex.org/W2895033324","https://openalex.org/W1967130606"],"abstract_inverted_index":{"Stabilization":[0],"of":[1,3,13,24,34,44,54,66,68,87,89,97,125],"motion":[2],"a":[4,14,22,55,59,105,141],"wheeled":[5],"robot":[6],"with":[7,58,62,146],"constrained":[8],"control":[9,108,112],"resource":[10],"by":[11],"means":[12],"continuous":[15],"feedback":[16,37],"linearizing":[17],"the":[18,25,32,36,41,45,63,69,72,85,118,122,126,134],"closed-loop":[19,47],"system":[20,48,57],"in":[21,140,144],"neighborhood":[23],"target":[26,73],"path":[27,74],"is":[28,49,101,114],"considered.":[29],"We":[30],"pose":[31,84],"problem":[33,86,100],"finding":[35],"coefficients":[38],"such":[39],"that":[40,53],"phase":[42,127],"portrait":[43,128],"nonlinear":[46],"topologically":[50],"equivalent":[51],"to":[52,103],"linear":[56],"stable":[60],"node,":[61],"asymptotic":[64],"rate":[65],"decrease":[67],"deviation":[70],"from":[71],"being":[75],"as":[76,78],"high":[77],"possible.":[79],"On":[80],"this":[81,98],"family,":[82],"we":[83],"minimization":[88],"\u201covershooting\u201d":[90],"for":[91],"arbitrary":[92],"initial":[93],"conditions.":[94],"The":[95],"solution":[96],"optimization":[99],"proved":[102],"be":[104],"limit":[106],"discontinuous":[107,147],"law.":[109],"A":[110],"hybrid":[111],"law":[113],"proposed":[115],"that,":[116],"on":[117,133],"one":[119],"hand,":[120,136],"ensures":[121],"desired":[123],"properties":[124],"and":[129],"minimal":[130],"overshooting":[131],"and,":[132],"other":[135],"does":[137],"not":[138],"result":[139],"chattering":[142],"inherent":[143],"systems":[145],"feedbacks.":[148]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}