{"id":"https://openalex.org/W2861022066","doi":"https://doi.org/10.3233/jifs-17699","title":"Practical implementation of an effective robust adaptive fuzzy variable structure tracking control for a wheeled mobile robot","display_name":"Practical implementation of an effective robust adaptive fuzzy variable structure tracking control for a wheeled mobile robot","publication_year":2018,"publication_date":"2018-07-09","ids":{"openalex":"https://openalex.org/W2861022066","doi":"https://doi.org/10.3233/jifs-17699","mag":"2861022066"},"language":"en","primary_location":{"id":"doi:10.3233/jifs-17699","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-17699","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Fuzzy Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repositorio.udesc.br/handle/UDESC/6566","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080613597","display_name":"Mauricio Begnini","orcid":null},"institutions":[{"id":"https://openalex.org/I123443094","display_name":"Universidade Estadual de Maring\u00e1","ror":"https://ror.org/04bqqa360","country_code":"BR","type":"education","lineage":["https://openalex.org/I123443094"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mauricio Begnini","raw_affiliation_strings":["State University of Maring\u00e1, Department of Informatics, Postgraduate Program in Computer Science, Maring\u00e1, PR, Brazil"],"affiliations":[{"raw_affiliation_string":"State University of Maring\u00e1, Department of Informatics, Postgraduate Program in Computer Science, Maring\u00e1, PR, Brazil","institution_ids":["https://openalex.org/I123443094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054281917","display_name":"Douglas Wildgrube Bertol","orcid":"https://orcid.org/0000-0002-6980-7422"},"institutions":[{"id":"https://openalex.org/I164790352","display_name":"Universidade do Estado de Santa Catarina","ror":"https://ror.org/03ztsbk67","country_code":"BR","type":"education","lineage":["https://openalex.org/I164790352"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Douglas Wildgrube Bertol","raw_affiliation_strings":["State University of Santa Catarina, Department of Electrical Engineering, Group of Systems Automation and Robotics, Joinville, SC, Brazil"],"affiliations":[{"raw_affiliation_string":"State University of Santa Catarina, Department of Electrical Engineering, Group of Systems Automation and Robotics, Joinville, SC, Brazil","institution_ids":["https://openalex.org/I164790352"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101763852","display_name":"Nard\u00eanio Almeida Martins","orcid":"https://orcid.org/0000-0001-7947-7415"},"institutions":[{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I123443094","display_name":"Universidade Estadual de Maring\u00e1","ror":"https://ror.org/04bqqa360","country_code":"BR","type":"education","lineage":["https://openalex.org/I123443094"]}],"countries":["BR","US"],"is_corresponding":true,"raw_author_name":"Nard\u00eanio Almeida Martins","raw_affiliation_strings":["Federal University of Santa Catarina, Department of Automation and Systems, Robotics Research Group, Florian\u00f3polis, SC, Brazil","State University of Maring\u00e1, Department of Informatics, Postgraduate Program in Computer Science, Maring\u00e1, PR, Brazil"],"affiliations":[{"raw_affiliation_string":"Federal University of Santa Catarina, Department of Automation and Systems, Robotics Research Group, Florian\u00f3polis, SC, Brazil","institution_ids":["https://openalex.org/I4104125","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"State University of Maring\u00e1, Department of Informatics, Postgraduate Program in Computer Science, Maring\u00e1, PR, Brazil","institution_ids":["https://openalex.org/I123443094"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101763852"],"corresponding_institution_ids":["https://openalex.org/I123443094","https://openalex.org/I4104125","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.9197,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.75579853,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"35","issue":"1","first_page":"1087","last_page":"1101"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9968000054359436,"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":0.9954000115394592,"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":0.820046067237854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6460590362548828},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6145252585411072},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.603901743888855},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.579623281955719},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.578276515007019},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5568592548370361},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5508058071136475},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.521704375743866},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5195205807685852},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.49714210629463196},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48740461468696594},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.471964955329895},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.384454607963562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35782894492149353},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28021496534347534},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2381778061389923},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.17096060514450073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16301113367080688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13397112488746643},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11836466193199158}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.820046067237854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6460590362548828},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6145252585411072},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.603901743888855},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.579623281955719},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.578276515007019},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5568592548370361},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5508058071136475},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.521704375743866},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5195205807685852},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.49714210629463196},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48740461468696594},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.471964955329895},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.384454607963562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35782894492149353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28021496534347534},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2381778061389923},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.17096060514450073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16301113367080688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13397112488746643},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11836466193199158},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3233/jifs-17699","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-17699","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Fuzzy Systems","raw_type":"journal-article"},{"id":"pmh:oai:repositorio.udesc.br:UDESC/6566","is_oa":true,"landing_page_url":"https://repositorio.udesc.br/handle/UDESC/6566","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"instacron:UDESC","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:repositorio.udesc.br:UDESC/6566","is_oa":true,"landing_page_url":"https://repositorio.udesc.br/handle/UDESC/6566","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"instacron:UDESC","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.75,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W11321111","https://openalex.org/W1509235676","https://openalex.org/W1537842733","https://openalex.org/W1553483187","https://openalex.org/W1607851361","https://openalex.org/W1687739456","https://openalex.org/W1897227763","https://openalex.org/W1972746612","https://openalex.org/W1999053693","https://openalex.org/W2019226553","https://openalex.org/W2025798328","https://openalex.org/W2034088441","https://openalex.org/W2035241376","https://openalex.org/W2036994940","https://openalex.org/W2043252047","https://openalex.org/W2049438749","https://openalex.org/W2064198783","https://openalex.org/W2069612046","https://openalex.org/W2070521553","https://openalex.org/W2083991997","https://openalex.org/W2099489172","https://openalex.org/W2117181723","https://openalex.org/W2120449753","https://openalex.org/W2122477302","https://openalex.org/W2122561468","https://openalex.org/W2132391997","https://openalex.org/W2135095638","https://openalex.org/W2139232209","https://openalex.org/W2156176970","https://openalex.org/W2166184893","https://openalex.org/W2167694030","https://openalex.org/W2170935430","https://openalex.org/W2183839608","https://openalex.org/W2186837243","https://openalex.org/W2262334787","https://openalex.org/W2324365132","https://openalex.org/W2565897094","https://openalex.org/W6813362774"],"related_works":["https://openalex.org/W2372856383","https://openalex.org/W2115512691","https://openalex.org/W2005085248","https://openalex.org/W2575403721","https://openalex.org/W2119378540","https://openalex.org/W2153861285","https://openalex.org/W2164290323","https://openalex.org/W2043000245","https://openalex.org/W2103496243","https://openalex.org/W2162992672"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"an":[3],"adaptive":[4,57,78],"fuzzy":[5,58],"variable":[6,51],"structure":[7,52],"control":[8,15,26,95],"integrated":[9],"with":[10,82],"a":[11,19,29,54],"proportional":[12],"plus":[13],"derivative":[14],"is":[16],"proposed":[17,94],"as":[18],"robust":[20],"solution":[21],"to":[22],"the":[23,42,49,62,66,71,77,85,93],"trajectory":[24],"tracking":[25,74],"problem":[27],"for":[28],"differential":[30],"wheeled":[31],"mobile":[32],"robot":[33],"under":[34],"effect":[35],"of":[36,48,65,73,92],"uncertainties":[37],"and":[38,70,89],"disturbances.":[39],"To":[40],"minimize":[41],"problems":[43],"found":[44],"in":[45],"practical":[46],"implementations":[47],"classical":[50],"controllers,":[53],"single-input":[55],"single-output":[56],"logic":[59],"system":[60],"replaces":[61],"discontinuous":[63],"portion":[64],"controller.":[67],"Stability":[68],"analysis":[69],"convergence":[72],"errors":[75],"considering":[76],"law":[79],"are":[80,97],"guaranteed":[81],"basis":[83],"on":[84],"Lyapunov":[86],"theory.":[87],"Simulation":[88],"experimental":[90],"results":[91],"strategy":[96],"explored.":[98]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}