{"id":"https://openalex.org/W2054373004","doi":"https://doi.org/10.1163/156855398x00136","title":"Rotational control of an omnidirectional mobile robot using a fuzzy servo controller","display_name":"Rotational control of an omnidirectional mobile robot using a fuzzy servo controller","publication_year":1997,"publication_date":"1997-01-01","ids":{"openalex":"https://openalex.org/W2054373004","doi":"https://doi.org/10.1163/156855398x00136","mag":"2054373004"},"language":"en","primary_location":{"id":"doi:10.1163/156855398x00136","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855398x00136","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Keigo Watanabe","raw_affiliation_strings":["a    Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan","a Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan"],"affiliations":[{"raw_affiliation_string":"a    Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"a Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101111525","display_name":"Kiyotaka Izumi","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyotaka Izumi","raw_affiliation_strings":["b    Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan","b Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan"],"affiliations":[{"raw_affiliation_string":"b    Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"b Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101850337","display_name":"Jun Tang","orcid":"https://orcid.org/0000-0001-7541-9496"},"institutions":[{"id":"https://openalex.org/I173915773","display_name":"Yamaguchi University","ror":"https://ror.org/03cxys317","country_code":"JP","type":"education","lineage":["https://openalex.org/I173915773"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"JUN TANG","raw_affiliation_strings":["c    Department of Mechanical Enginnering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755-8611, Japan","c Department of Mechanical Enginnering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755-8611, Japan"],"affiliations":[{"raw_affiliation_string":"c    Department of Mechanical Enginnering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755-8611, Japan","institution_ids":["https://openalex.org/I173915773"]},{"raw_affiliation_string":"c Department of Mechanical Enginnering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755-8611, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947853","display_name":"Fuhua Han","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"FUHUA HAN","raw_affiliation_strings":["d    Department of Production and Control Technology, Faculty of Engineering Systems and Technology Graduate School of Science and Engineering, Saga University, l Honjomachi, Saga 840-8502, Japan","d Department of Production and Control Technology, Faculty of Engineering Systems and Technology Graduate School of Science and Engineering, Saga University, l Honjomachi, Saga 840-8502, Japan"],"affiliations":[{"raw_affiliation_string":"d    Department of Production and Control Technology, Faculty of Engineering Systems and Technology Graduate School of Science and Engineering, Saga University, l Honjomachi, Saga 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"d Department of Production and Control Technology, Faculty of Engineering Systems and Technology Graduate School of Science and Engineering, Saga University, l Honjomachi, Saga 840-8502, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111518950"],"corresponding_institution_ids":["https://openalex.org/I177136067"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.1830487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"12","issue":"3","first_page":"171","last_page":"189"},"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":1.0,"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":1.0,"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":0.9979000091552734,"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":0.97079998254776,"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":0.7604158520698547},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6213603019714355},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5762215852737427},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.564359188079834},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5478349924087524},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5407595038414001},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5276744961738586},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5121786594390869},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46386829018592834},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.458088755607605},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45082613825798035},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4415956437587738},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.413847953081131},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36863940954208374},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.3625362515449524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3409198522567749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2501104474067688},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24280637502670288},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15005815029144287}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7604158520698547},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6213603019714355},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5762215852737427},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.564359188079834},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5478349924087524},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5407595038414001},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5276744961738586},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5121786594390869},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46386829018592834},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.458088755607605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45082613825798035},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4415956437587738},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.413847953081131},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36863940954208374},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.3625362515449524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3409198522567749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2501104474067688},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24280637502670288},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15005815029144287},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855398x00136","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855398x00136","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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":6,"referenced_works":["https://openalex.org/W34557854","https://openalex.org/W1888316070","https://openalex.org/W2046387417","https://openalex.org/W2095936905","https://openalex.org/W2320149692","https://openalex.org/W2545905677"],"related_works":["https://openalex.org/W2133614587","https://openalex.org/W2080331776","https://openalex.org/W161603712","https://openalex.org/W2045478930","https://openalex.org/W2382504547","https://openalex.org/W2360974923","https://openalex.org/W1490629594","https://openalex.org/W2384182507","https://openalex.org/W2378363272","https://openalex.org/W2384578230"],"abstract_inverted_index":{"It":[0],"is":[1,13,35,81],"known":[2],"that":[3],"the":[4,18,22,38,54,68,78,88],"equation":[5],"of":[6,40,77],"motions":[7],"for":[8,87],"an":[9],"omnidirectional":[10],"mobile":[11],"robot":[12],"nonlinear":[14,56],"with":[15],"respect":[16],"to":[17,37,66],"rotational":[19,43],"angle":[20],"between":[21],"moving":[23],"and":[24,62],"absolute":[25],"coordinate":[26],"systems.":[27],"In":[28],"this":[29],"paper,":[30],"a":[31,41],"fuzzy":[32],"model":[33,57],"approach":[34],"applied":[36],"control":[39,91],"time-varying":[42],"angle,":[44],"in":[45,58],"which":[46],"multiple":[47],"linear":[48],"models":[49],"are":[50,64],"obtained":[51],"by":[52,83],"utilizing":[53],"original":[55],"some":[59,85],"representative":[60],"angles":[61],"they":[63],"used":[65],"derive":[67],"optimal":[69],"type":[70],"2":[71],"servo":[72],"gain":[73],"matrices.":[74],"The":[75],"effectiveness":[76],"proposed":[79],"method":[80],"illustrated":[82],"giving":[84],"simulations":[86],"trajectory":[89],"tracking":[90],"problem.":[92]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}