{"id":"https://openalex.org/W2807208133","doi":"https://doi.org/10.1177/0959651818779849","title":"Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach","display_name":"Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach","publication_year":2018,"publication_date":"2018-06-06","ids":{"openalex":"https://openalex.org/W2807208133","doi":"https://doi.org/10.1177/0959651818779849","mag":"2807208133"},"language":"en","primary_location":{"id":"doi:10.1177/0959651818779849","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651818779849","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5032010988","display_name":"Parisa Yazdjerdi","orcid":"https://orcid.org/0000-0003-1430-3937"},"institutions":[{"id":"https://openalex.org/I60342839","display_name":"Qatar University","ror":"https://ror.org/00yhnba62","country_code":"QA","type":"education","lineage":["https://openalex.org/I60342839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Parisa Yazdjerdi","raw_affiliation_strings":["Department of Electrical Engineering, Qatar University, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Qatar University, Doha, Qatar","institution_ids":["https://openalex.org/I60342839"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054285669","display_name":"Nader Meskin","orcid":"https://orcid.org/0000-0003-3098-9369"},"institutions":[{"id":"https://openalex.org/I60342839","display_name":"Qatar University","ror":"https://ror.org/00yhnba62","country_code":"QA","type":"education","lineage":["https://openalex.org/I60342839"]}],"countries":["QA"],"is_corresponding":true,"raw_author_name":"Nader Meskin","raw_affiliation_strings":["Department of Electrical Engineering, Qatar University, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Qatar University, Doha, Qatar","institution_ids":["https://openalex.org/I60342839"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054285669"],"corresponding_institution_ids":["https://openalex.org/I60342839"],"apc_list":null,"apc_paid":null,"fwci":1.6834,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.8475043,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"232","issue":"6","first_page":"652","last_page":"661"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9965000152587891,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9965000152587891,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9907000064849854,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9884999990463257,"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/actuator","display_name":"Actuator","score":0.6883100271224976},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6819474697113037},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5961039066314697},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5758230686187744},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5444967746734619},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5315717458724976},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5218207240104675},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5134392976760864},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.49852895736694336},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.48548606038093567},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4806326925754547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48002806305885315},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.43929019570350647},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3773213028907776},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24741697311401367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16491156816482544},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.08201238512992859},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06243601441383362}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6883100271224976},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6819474697113037},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5961039066314697},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5758230686187744},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5444967746734619},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5315717458724976},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5218207240104675},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5134392976760864},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.49852895736694336},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.48548606038093567},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4806326925754547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48002806305885315},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.43929019570350647},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3773213028907776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24741697311401367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16491156816482544},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.08201238512992859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06243601441383362},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0959651818779849","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651818779849","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"},{"id":"pmh:oai:qspace.qu.edu.qa:10576/13380","is_oa":false,"landing_page_url":"http://hdl.handle.net/10576/13380","pdf_url":null,"source":{"id":"https://openalex.org/S4306400014","display_name":"Qatar University QSpace (Qatar University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60342839","host_organization_name":"Qatar University","host_organization_lineage":["https://openalex.org/I60342839"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4791260942","display_name":null,"funder_award_id":"NPRP 5 - 045 -02-017","funder_id":"https://openalex.org/F4320309815","funder_display_name":"Qatar Foundation"}],"funders":[{"id":"https://openalex.org/F4320309815","display_name":"Qatar Foundation","ror":"https://ror.org/01cawbq05"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W153294671","https://openalex.org/W952708911","https://openalex.org/W1167901000","https://openalex.org/W1506295672","https://openalex.org/W1604520938","https://openalex.org/W2006234381","https://openalex.org/W2054115913","https://openalex.org/W2054864534","https://openalex.org/W2089491986","https://openalex.org/W2113966507","https://openalex.org/W2126790865","https://openalex.org/W2156400890","https://openalex.org/W2164241764","https://openalex.org/W2340196920","https://openalex.org/W2396418872","https://openalex.org/W2614346354","https://openalex.org/W2623660146","https://openalex.org/W4212817801","https://openalex.org/W4229643584","https://openalex.org/W4231197448","https://openalex.org/W4235424541","https://openalex.org/W4256328413","https://openalex.org/W4298778925","https://openalex.org/W4376502360","https://openalex.org/W4376594889"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2334479858","https://openalex.org/W2799209613","https://openalex.org/W2793786119","https://openalex.org/W1507702947"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"an":[3],"actuator":[4,46],"fault-tolerant":[5,49,83],"control":[6,84],"scheme":[7],"is":[8,30,39,51],"proposed":[9,82],"for":[10],"differential-drive":[11,27],"mobile":[12,28,69],"robots":[13],"based":[14,54],"on":[15,55,63],"the":[16,26,56,64,68,78,81],"concept":[17],"of":[18,25,35,67,80],"multiple-model":[19],"approach.":[20,85],"The":[21],"nonlinear":[22],"kinematic":[23],"model":[24],"robot":[29],"discretized":[31],"and":[32,44],"a":[33],"bank":[34],"extended":[36],"Kalman":[37],"filters":[38],"designed":[40],"to":[41,59,76],"detect,":[42],"isolate,":[43],"identify":[45],"faults.":[47],"A":[48],"controller":[50],"then":[52],"developed":[53],"detected":[57],"fault":[58],"accommodate":[60],"its":[61],"effect":[62],"trajectory-tracking":[65],"performance":[66],"robot.":[70],"Extensive":[71],"experimental":[72],"results":[73],"are":[74],"presented":[75],"demonstrate":[77],"efficacy":[79]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
