{"id":"https://openalex.org/W2066050705","doi":"https://doi.org/10.1177/027836499101000506","title":"New Robot Adaptive Control Strategies Through Nonholonomic Transformations","display_name":"New Robot Adaptive Control Strategies Through Nonholonomic Transformations","publication_year":1991,"publication_date":"1991-10-01","ids":{"openalex":"https://openalex.org/W2066050705","doi":"https://doi.org/10.1177/027836499101000506","mag":"2066050705"},"language":"en","primary_location":{"id":"doi:10.1177/027836499101000506","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000506","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","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/A5086584348","display_name":"Keqin Gu","orcid":"https://orcid.org/0000-0003-2587-4284"},"institutions":[{"id":"https://openalex.org/I87547150","display_name":"Southern Illinois University Edwardsville","ror":"https://ror.org/04cqs5j56","country_code":"US","type":"education","lineage":["https://openalex.org/I2801502357","https://openalex.org/I87547150"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Keqin Gu","raw_affiliation_strings":["Department of Mechanical Engineering Southern Illinois University Edwardsville, Illinois 62026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Southern Illinois University Edwardsville, Illinois 62026","institution_ids":["https://openalex.org/I87547150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109858875","display_name":"Benson H. Tongue","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benson H. Tongue","raw_affiliation_strings":["Department of Mechanical Engineering University of California, Berkeley Berkeley, California 94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of California, Berkeley Berkeley, California 94720","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086584348"],"corresponding_institution_ids":["https://openalex.org/I87547150"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24320898,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"5","first_page":"505","last_page":"514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.9033190011978149},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6627175807952881},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5899325609207153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5839252471923828},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5585379004478455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5467587113380432},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.48702746629714966},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37679868936538696},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3432084321975708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33618593215942383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2430819272994995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2154654860496521},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15851867198944092}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.9033190011978149},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6627175807952881},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5899325609207153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5839252471923828},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5585379004478455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5467587113380432},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.48702746629714966},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37679868936538696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3432084321975708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33618593215942383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2430819272994995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2154654860496521},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15851867198944092},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499101000506","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000506","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1481030933","https://openalex.org/W1566405224","https://openalex.org/W1582353822","https://openalex.org/W1946771514","https://openalex.org/W1966552874","https://openalex.org/W1967842031","https://openalex.org/W1973862175","https://openalex.org/W1977491822","https://openalex.org/W2006813793","https://openalex.org/W2034825286","https://openalex.org/W2062691475","https://openalex.org/W2083483041","https://openalex.org/W2116243329","https://openalex.org/W2127491937","https://openalex.org/W2133884578","https://openalex.org/W2166364148","https://openalex.org/W2178946461","https://openalex.org/W2798813531"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1967307436","https://openalex.org/W2889285810","https://openalex.org/W1563391512"],"abstract_inverted_index":{"The":[0,41],"design":[1],"problem":[2],"of":[3,7,20,27,73],"model-based":[4],"adaptive":[5,28],"control":[6],"robots":[8],"with":[9],"unknown":[10],"parameters":[11],"is":[12,30,65],"considered.":[13],"By":[14,60],"intro":[15],"ducing":[16],"a":[17,24],"nonholonomic":[18],"transformation":[19],"the":[21,52,74],"error":[22],"dynamics,":[23],"general":[25],"class":[26],"algorithms":[29,42],"obtained,":[31],"which":[32],"includes":[33],"some":[34],"previously":[35],"derived":[36],"results":[37],"as":[38,51],"special":[39],"cases.":[40],"can":[43],"be":[44],"implemented":[45],"through":[46],"fast":[47],"recursive":[48],"schemes":[49],"such":[50],"Newton-Euler":[53],"formulation":[54],"without":[55],"requiring":[56],"excessive":[57],"feedback":[58],"gains.":[59],"setting":[61],"certain":[62],"terms,":[63],"it":[64],"also":[66],"possible":[67],"to":[68],"obtain":[69],"an":[70],"exponential":[71],"convergence":[72],"joint":[75],"errors.":[76]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
