{"id":"https://openalex.org/W2061713759","doi":"https://doi.org/10.2316/journal.206.2013.4.206-3883","title":"ADAPTIVE TRACKING CONTROL OF NONHOLONOMIC SYSTEMS BASED ON FEEDBACK ERROR LEARNING","display_name":"ADAPTIVE TRACKING CONTROL OF NONHOLONOMIC SYSTEMS BASED ON FEEDBACK ERROR LEARNING","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W2061713759","doi":"https://doi.org/10.2316/journal.206.2013.4.206-3883","mag":"2061713759"},"language":"en","primary_location":{"id":"doi:10.2316/journal.206.2013.4.206-3883","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2013.4.206-3883","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","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/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088685633","display_name":"Xingguo Song","orcid":"https://orcid.org/0000-0003-0311-9632"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingguo Song","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Ding","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongquan Deng","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033616367"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.505,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72967721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"28","issue":"4","first_page":null,"last_page":null},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9991999864578247,"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":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7672897577285767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6249399781227112},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6044677495956421},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5972064733505249},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5250327587127686},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49805784225463867},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.48984047770500183},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4728177785873413},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.44319748878479004},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4368615746498108},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42316633462905884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3535870909690857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30238404870033264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23822051286697388},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2209121286869049},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1633596420288086},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09163239598274231}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7672897577285767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6249399781227112},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6044677495956421},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5972064733505249},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5250327587127686},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49805784225463867},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48984047770500183},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4728177785873413},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.44319748878479004},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4368615746498108},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42316633462905884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3535870909690857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30238404870033264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23822051286697388},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2209121286869049},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1633596420288086},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09163239598274231},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2316/journal.206.2013.4.206-3883","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2013.4.206-3883","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","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":23,"referenced_works":["https://openalex.org/W1517236425","https://openalex.org/W1963754511","https://openalex.org/W1971044547","https://openalex.org/W2045507815","https://openalex.org/W2053908901","https://openalex.org/W2067148590","https://openalex.org/W2082397459","https://openalex.org/W2085900874","https://openalex.org/W2088363200","https://openalex.org/W2089841388","https://openalex.org/W2093176668","https://openalex.org/W2101343911","https://openalex.org/W2109839764","https://openalex.org/W2113252864","https://openalex.org/W2122561468","https://openalex.org/W2133066324","https://openalex.org/W2134089954","https://openalex.org/W2138238457","https://openalex.org/W2150531296","https://openalex.org/W2166114934","https://openalex.org/W2168502748","https://openalex.org/W2495714227","https://openalex.org/W2610857016"],"related_works":["https://openalex.org/W1934622834","https://openalex.org/W2372856383","https://openalex.org/W2015036175","https://openalex.org/W2779381274","https://openalex.org/W1545539801","https://openalex.org/W2005085248","https://openalex.org/W2534107666","https://openalex.org/W2210722882","https://openalex.org/W3006614820","https://openalex.org/W4280596088"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"an":[5],"adaptive":[6,95,100],"feedback":[7],"error":[8],"learning":[9,41],"(AFEL)":[10],"control":[11,53,87,96,101,147],"scheme":[12],"that":[13],"are":[14,74],"suitable":[15],"for":[16,85],"a":[17],"class":[18],"of":[19,36,50,72,129],"nonholonomic":[20],"wheeled":[21],"mobile":[22],"robots":[23],"with":[24,33,89,134],"uncertainties.":[25],"The":[26,55],"proposed":[27,84,99,145],"algorithm":[28,102],"employs":[29,103],"nonlinear":[30,65],"function":[31,57],"approximation":[32,70],"automatic":[34],"growth":[35],"the":[37,44,47,51,98,113,144],"neural":[38],"network":[39],"(NN)":[40],"according":[42],"to":[43,111],"nonlinearities":[45],"and":[46,108,126],"working":[48],"domain":[49],"tracking":[52,106,124,141],"system.":[54],"unknown":[56],"in":[58,131,149],"dynamical":[59],"system":[60],"is":[61,83],"approximated":[62],"by":[63,76,93,115],"training":[64],"NN":[66,116],"models,":[67],"and,":[68],"imperfect":[69],"errors":[71,107,110,125],"NNs":[73],"relaxed":[75],"designing":[77],"parallel":[78],"robust":[79],"term.":[80],"Lyapunov":[81],"synthesis":[82],"AFEL":[86,146],"design":[88],"guaranteed":[90],"stability.":[91],"Inspired":[92],"composite":[94],"scheme,":[97],"both":[104],"closed-loop":[105],"estimation":[109],"optimize":[112],"parameters":[114],"online":[117],"weight":[118],"tuning":[119],"algorithms,":[120],"which":[121],"guarantee":[122],"small":[123],"no":[127],"loss":[128],"stability":[130],"robot":[132],"motion":[133],"bounded":[135],"input":[136],"signals.":[137],"We":[138],"demonstrate":[139],"superior":[140],"results":[142],"using":[143],"method":[148],"various":[150],"Matlab":[151],"simulations.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}