{"id":"https://openalex.org/W4310153701","doi":"https://doi.org/10.1177/01423312221127478","title":"Trajectory tracking control for wheeled mobile robot subject to generalized torque constraints","display_name":"Trajectory tracking control for wheeled mobile robot subject to generalized torque constraints","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4310153701","doi":"https://doi.org/10.1177/01423312221127478"},"language":"en","primary_location":{"id":"doi:10.1177/01423312221127478","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312221127478","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and 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/A5062301741","display_name":"Chaojie Shen","orcid":"https://orcid.org/0000-0002-4155-358X"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaojie Shen","raw_affiliation_strings":["Institute of Information and Control, Hangzhou Dianzi University, P.R. China"],"raw_orcid":"https://orcid.org/0000-0002-4155-358X","affiliations":[{"raw_affiliation_string":"Institute of Information and Control, Hangzhou Dianzi University, P.R. China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069951328","display_name":"Jianjun Bai","orcid":"https://orcid.org/0000-0002-0121-6116"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianjun Bai","raw_affiliation_strings":["Institute of Information and Control, Hangzhou Dianzi University, P.R. China","Key Lab for IOT and Information Fusion Technology of Zhejiang, Hangzhou Dianzi University, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information and Control, Hangzhou Dianzi University, P.R. China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Key Lab for IOT and Information Fusion Technology of Zhejiang, Hangzhou Dianzi University, P.R. China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076366709","display_name":"Bingxin Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bingxin Shi","raw_affiliation_strings":["PetroChina Jidong Oilfield Oil and Gas Gathering Company, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PetroChina Jidong Oilfield Oil and Gas Gathering Company, P.R. China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416565","display_name":"Yun Chen","orcid":"https://orcid.org/0000-0002-9934-9979"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Chen","raw_affiliation_strings":["Institute of Information and Control, Hangzhou Dianzi University, P.R. China","Key Lab for IOT and Information Fusion Technology of Zhejiang, Hangzhou Dianzi University, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information and Control, Hangzhou Dianzi University, P.R. China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Key Lab for IOT and Information Fusion Technology of Zhejiang, Hangzhou Dianzi University, P.R. China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5069951328"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":0.9703,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.74688423,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"45","issue":"7","first_page":"1258","last_page":"1270"},"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":0.9959999918937683,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8731862306594849},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.695480465888977},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6589513421058655},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6518891453742981},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6099476218223572},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5496335029602051},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5438980460166931},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5072829127311707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4335689842700958},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.41782093048095703},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41294440627098083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37344396114349365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37155210971832275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24702560901641846},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11817562580108643},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09708648920059204},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07089468836784363}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8731862306594849},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.695480465888977},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6589513421058655},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6518891453742981},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6099476218223572},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5496335029602051},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5438980460166931},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5072829127311707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4335689842700958},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.41782093048095703},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41294440627098083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37344396114349365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37155210971832275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24702560901641846},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11817562580108643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09708648920059204},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07089468836784363},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/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:10.1177/01423312221127478","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312221127478","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1902422514","display_name":null,"funder_award_id":"61773146","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G5923952041","display_name":null,"funder_award_id":"61973102","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1967598091","https://openalex.org/W1976835497","https://openalex.org/W1986224156","https://openalex.org/W2010423410","https://openalex.org/W2041069066","https://openalex.org/W2049933349","https://openalex.org/W2069612046","https://openalex.org/W2088363200","https://openalex.org/W2100780067","https://openalex.org/W2115990616","https://openalex.org/W2120815471","https://openalex.org/W2126101691","https://openalex.org/W2130535256","https://openalex.org/W2133066324","https://openalex.org/W2154269883","https://openalex.org/W2156997876","https://openalex.org/W2158742422","https://openalex.org/W2163290424","https://openalex.org/W2169082695","https://openalex.org/W2464061210","https://openalex.org/W2489343066","https://openalex.org/W2594609644","https://openalex.org/W2790693807","https://openalex.org/W2811464482","https://openalex.org/W2899506159","https://openalex.org/W2903171715","https://openalex.org/W2910310137","https://openalex.org/W2945783185","https://openalex.org/W2988364900","https://openalex.org/W3002171567","https://openalex.org/W3021750993","https://openalex.org/W3039554009","https://openalex.org/W3087723642","https://openalex.org/W3127016338","https://openalex.org/W3130798176","https://openalex.org/W3135645257","https://openalex.org/W3159937307","https://openalex.org/W3163773473"],"related_works":["https://openalex.org/W2349796700","https://openalex.org/W1964805920","https://openalex.org/W2147929414","https://openalex.org/W3194517843","https://openalex.org/W2234502090","https://openalex.org/W2496188264","https://openalex.org/W4388874082","https://openalex.org/W2101859637","https://openalex.org/W2383986032","https://openalex.org/W3217133416"],"abstract_inverted_index":{"The":[0],"trajectory":[1,79],"tracking":[2,80,93],"control":[3],"problem":[4],"for":[5,100],"wheeled":[6],"mobile":[7],"robot":[8],"(WMR)":[9],"subject":[10],"to":[11,67,105,119],"generalized":[12,55],"torque":[13,56],"constraints":[14,109],"is":[15,25,95],"studied":[16],"in":[17],"this":[18],"paper.":[19],"First,":[20],"a":[21,49,54,62],"more":[22],"general":[23],"model":[24],"obtained":[26],"by":[27],"taking":[28],"the":[29,32,37,40,43,68,71,75,78,88,91,102,107,121,124],"displacement":[30],"between":[31],"centre":[33],"of":[34,36,42,70,77,90,123],"mass":[35],"WMR":[38],"and":[39,53,87],"midpoint":[41],"driving":[44],"wheels":[45],"into":[46],"consideration.":[47],"Then,":[48],"virtual":[50],"velocity":[51],"controller":[52,57,103],"are":[58,110,117],"designed":[59],"based":[60],"on":[61],"new":[63,72],"Lyapunov":[64,73],"function.":[65],"Due":[66],"advantages":[69],"function,":[74],"stability":[76],"error":[81],"system":[82],"can":[83],"be":[84],"derived":[85],"directly":[86],"constraint":[89],"initial":[92],"errors":[94],"removed.":[96],"Less":[97],"conservative":[98],"conditions":[99],"tuning":[101],"parameters":[104],"satisfy":[106],"saturation":[108],"also":[111],"derived.":[112],"Finally,":[113],"some":[114],"numerical":[115],"examples":[116],"given":[118],"show":[120],"effectiveness":[122],"proposed":[125],"controllers.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
