{"id":"https://openalex.org/W3045860348","doi":"https://doi.org/10.23919/acc45564.2020.9147606","title":"Path Tracking for the Dissipative Chaplygin Sleigh","display_name":"Path Tracking for the Dissipative Chaplygin Sleigh","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045860348","doi":"https://doi.org/10.23919/acc45564.2020.9147606","mag":"3045860348"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9147606","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-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/A5045534710","display_name":"Vitaliy Fedonyuk","orcid":"https://orcid.org/0000-0002-8193-0538"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vitaliy Fedonyuk","raw_affiliation_strings":["Department of Mechanical Engineering, Clemson University, Clemson, SC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Clemson University, Clemson, SC","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079777763","display_name":"Phanindra Tallapragada","orcid":"https://orcid.org/0000-0003-1679-4733"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phanindra Tallapragada","raw_affiliation_strings":["Department of Mechanical Engineering, Clemson University, Clemson, SC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Clemson University, Clemson, SC","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8936,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74026835,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9950000047683716,"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9523000121116638,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/computer-science","display_name":"Computer science","score":0.5064462423324585},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.483180433511734},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4772588908672333},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47352954745292664},{"id":"https://openalex.org/keywords/chaplygin-gas","display_name":"Chaplygin gas","score":0.413364052772522},{"id":"https://openalex.org/keywords/astrophysics","display_name":"Astrophysics","score":0.13975784182548523}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5064462423324585},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.483180433511734},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4772588908672333},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47352954745292664},{"id":"https://openalex.org/C2777515927","wikidata":"https://www.wikidata.org/wiki/Q5073250","display_name":"Chaplygin gas","level":4,"score":0.413364052772522},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.13975784182548523},{"id":"https://openalex.org/C172790937","wikidata":"https://www.wikidata.org/wiki/Q18343","display_name":"Dark energy","level":3,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc45564.2020.9147606","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1502278167","https://openalex.org/W1503438515","https://openalex.org/W1540571436","https://openalex.org/W2018874482","https://openalex.org/W2038067954","https://openalex.org/W2116659551","https://openalex.org/W2120179083","https://openalex.org/W2123766318","https://openalex.org/W2133361850","https://openalex.org/W2137922094","https://openalex.org/W2145330902","https://openalex.org/W2528773432","https://openalex.org/W2740637855","https://openalex.org/W2770645989","https://openalex.org/W2884531507","https://openalex.org/W2884913238","https://openalex.org/W2901693093","https://openalex.org/W2966033334","https://openalex.org/W2972703572","https://openalex.org/W4292408540","https://openalex.org/W6632224018","https://openalex.org/W6678081342","https://openalex.org/W6727799840","https://openalex.org/W6753278595"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036","https://openalex.org/W3148032049"],"abstract_inverted_index":{"In":[0,130],"this":[1,150,192],"paper":[2],"we":[3,134],"study":[4],"the":[5,11,41,55,61,83,95,102,119,131,136,146,156,160,173,184],"problem":[6,96,154],"of":[7,23,40,43,48,57,97,138,166],"path":[8,100,182],"tracking":[9,75,98],"for":[10,65,82,101],"Chaplygin":[12,25,69,103],"sleigh,":[13],"a":[14,24,66,76,99,114,126,139,142,152,180,188],"well":[15],"known":[16],"nonholonomic":[17],"system.":[18,84],"The":[19,163],"dynamics":[20,45],"and":[21,71,79,186],"control":[22],"sleigh":[26,70,157,174],"with":[27,187,191],"dissipation":[28],"has":[29,53],"received":[30],"much":[31],"attention":[32],"in":[33,38,60,74,111,118,183],"recent":[34],"years,":[35],"more":[36],"so":[37],"light":[39],"similarity":[42],"its":[44],"to":[46,93,148,177],"that":[47,172],"fish-like":[49],"swimming.":[50],"Recent":[51],"work":[52],"shown":[54],"existence":[56],"limit":[58,116],"cycles":[59],"reduced":[62,120],"velocity":[63,121,190],"space":[64,122],"periodically":[67],"forced":[68],"their":[72],"use":[73,86,135],"reference":[77,115,181,189],"speed":[78],"heading":[80],"angle":[81],"We":[85,170],"these":[87],"results":[88],"as":[89,151],"our":[90],"starting":[91],"point":[92,141],"address":[94],"sleigh.":[104],"A":[105],"two":[106,164],"part":[107,113,133],"algorithm":[108,167],"is":[109,123,158,175],"proposed;":[110],"one":[112],"cycle":[117],"tracked":[124],"using":[125],"harmonic":[127],"balance":[128],"method.":[129],"second":[132],"idea":[137],"goal":[140,161],"fixed":[143],"distance":[144],"from":[145],"vehicle":[147],"frame":[149],"pursuit":[153],"where":[155],"pursuing":[159],"point.":[162],"parts":[165],"are":[168],"coupled.":[169],"show":[171],"able":[176],"simultaneously":[178],"track":[179],"plane":[185],"approach.":[193]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}