{"id":"https://openalex.org/W3082937584","doi":"https://doi.org/10.3390/s20174959","title":"A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment","display_name":"A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment","publication_year":2020,"publication_date":"2020-09-02","ids":{"openalex":"https://openalex.org/W3082937584","doi":"https://doi.org/10.3390/s20174959","mag":"3082937584","pmid":"https://pubmed.ncbi.nlm.nih.gov/32887264"},"language":"en","primary_location":{"id":"doi:10.3390/s20174959","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20174959","pdf_url":"https://www.mdpi.com/1424-8220/20/17/4959/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/20/17/4959/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032248681","display_name":"Jos\u00e9 Rafael Garc\u00eda-S\u00e1nchez","orcid":"https://orcid.org/0000-0001-7036-0990"},"institutions":[{"id":"https://openalex.org/I3130395211","display_name":"Instituto Tecnol\u00f3gico Superior de Xalapa","ror":"https://ror.org/009rr6x76","country_code":"MX","type":"education","lineage":["https://openalex.org/I3130395211"]},{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Rafael Garc\u00eda-S\u00e1nchez","raw_affiliation_strings":["Divisi\u00f3n de Ingenier\u00eda Mecatr\u00f3nica, Tecnol\u00f3gico de Estudios Superiores de Huixquilucan, Tecnol\u00f3gico Nacional de M\u00e9xico, Estado de M\u00e9xico 52773, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-7036-0990","affiliations":[{"raw_affiliation_string":"Divisi\u00f3n de Ingenier\u00eda Mecatr\u00f3nica, Tecnol\u00f3gico de Estudios Superiores de Huixquilucan, Tecnol\u00f3gico Nacional de M\u00e9xico, Estado de M\u00e9xico 52773, Mexico","institution_ids":["https://openalex.org/I3130395211","https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074335419","display_name":"Salvador Tavera-Mosqueda","orcid":"https://orcid.org/0000-0002-2555-6262"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Salvador Tavera-Mosqueda","raw_affiliation_strings":["Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-2555-6262","affiliations":[{"raw_affiliation_string":"Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055594838","display_name":"Ram\u00f3n Silva\u2010Ortigoza","orcid":"https://orcid.org/0000-0002-7540-489X"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Ram\u00f3n Silva-Ortigoza","raw_affiliation_strings":["Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-7540-489X","affiliations":[{"raw_affiliation_string":"Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001770010","display_name":"Victor Manuel Hern\u00e1ndez-Guzm\u00e1n","orcid":"https://orcid.org/0000-0002-7016-2561"},"institutions":[{"id":"https://openalex.org/I157492648","display_name":"Autonomous University of Queretaro","ror":"https://ror.org/00v8fdc16","country_code":"MX","type":"education","lineage":["https://openalex.org/I157492648"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Victor Manuel Hern\u00e1ndez-Guzm\u00e1n","raw_affiliation_strings":["Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, Quer\u00e9taro 76010, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-7016-2561","affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, Quer\u00e9taro 76010, Mexico","institution_ids":["https://openalex.org/I157492648"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040917610","display_name":"Magdalena Marciano-Melchor","orcid":"https://orcid.org/0000-0003-1435-6908"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Magdalena Marciano-Melchor","raw_affiliation_strings":["Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-1435-6908","affiliations":[{"raw_affiliation_string":"Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045107243","display_name":"Jos\u00e9 de Jes\u00fas Rubio","orcid":"https://orcid.org/0000-0002-2005-5979"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 de Jes\u00fas Rubio","raw_affiliation_strings":["Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, ESIME Azcapotzalco, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 02250, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-2005-5979","affiliations":[{"raw_affiliation_string":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, ESIME Azcapotzalco, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 02250, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026960759","display_name":"Mario Ponce\u2010Silva","orcid":"https://orcid.org/0000-0002-4236-6903"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I4210138655","display_name":"Centro Nacional de Investigaci\u00f3n y Desarrollo Tecnol\u00f3gico","ror":"https://ror.org/0314ecq26","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210138655"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Mario Ponce-Silva","raw_affiliation_strings":["Departamento de Ingenier\u00eda Electr\u00f3nica, CENIDET, Tecnol\u00f3gico Nacional de M\u00e9xico, Morelos 62490, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-4236-6903","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Electr\u00f3nica, CENIDET, Tecnol\u00f3gico Nacional de M\u00e9xico, Morelos 62490, Mexico","institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I4210138655"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025782729","display_name":"Miguel Hern\u00e1ndez-Bola\u00f1os","orcid":"https://orcid.org/0000-0002-5622-8747"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Miguel Hern\u00e1ndez-Bola\u00f1os","raw_affiliation_strings":["Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-5622-8747","affiliations":[{"raw_affiliation_string":"Laboratorio de Mecatr\u00f3nica & Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005029007","display_name":"Jes\u00fas Mart\u00ednez-Mart\u00ednez","orcid":"https://orcid.org/0000-0002-1438-6384"},"institutions":[{"id":"https://openalex.org/I3130395211","display_name":"Instituto Tecnol\u00f3gico Superior de Xalapa","ror":"https://ror.org/009rr6x76","country_code":"MX","type":"education","lineage":["https://openalex.org/I3130395211"]},{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jes\u00fas Mart\u00ednez-Mart\u00ednez","raw_affiliation_strings":["Divisi\u00f3n de Ingenier\u00eda Mecatr\u00f3nica, Tecnol\u00f3gico de Estudios Superiores de Huixquilucan, Tecnol\u00f3gico Nacional de M\u00e9xico, Estado de M\u00e9xico 52773, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-1438-6384","affiliations":[{"raw_affiliation_string":"Divisi\u00f3n de Ingenier\u00eda Mecatr\u00f3nica, Tecnol\u00f3gico de Estudios Superiores de Huixquilucan, Tecnol\u00f3gico Nacional de M\u00e9xico, Estado de M\u00e9xico 52773, Mexico","institution_ids":["https://openalex.org/I3130395211","https://openalex.org/I4210090124"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5055594838"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.8267,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.70736555,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"20","issue":"17","first_page":"4959","last_page":"4959"},"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":1.0,"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":1.0,"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":0.9904999732971191,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/control-theory","display_name":"Control theory (sociology)","score":0.7289940714836121},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5853837728500366},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5603480339050293},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5349225997924805},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5219839811325073},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.4496302902698517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4494266211986542},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.43470174074172974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43225905299186707},{"id":"https://openalex.org/keywords/converters","display_name":"Converters","score":0.4138113856315613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1267331838607788},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.08659806847572327},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08249378204345703},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07967233657836914},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.07230976223945618}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7289940714836121},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5853837728500366},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5603480339050293},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5349225997924805},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5219839811325073},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.4496302902698517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4494266211986542},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.43470174074172974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43225905299186707},{"id":"https://openalex.org/C2778422915","wikidata":"https://www.wikidata.org/wiki/Q10302051","display_name":"Converters","level":3,"score":0.4138113856315613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1267331838607788},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.08659806847572327},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08249378204345703},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07967233657836914},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.07230976223945618},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s20174959","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20174959","pdf_url":"https://www.mdpi.com/1424-8220/20/17/4959/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:32887264","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32887264","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:7506706","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7506706","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:4d14c78c276f46a69f8a11236f42edb6","is_oa":true,"landing_page_url":"https://doaj.org/article/4d14c78c276f46a69f8a11236f42edb6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 20, Iss 17, p 4959 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/17/4959/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s20174959","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 20; Issue 17; Pages: 4959","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s20174959","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20174959","pdf_url":"https://www.mdpi.com/1424-8220/20/17/4959/pdf","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8399999737739563}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321694","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"},{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320324201","display_name":"Secretar\u00eda de Investigaci\u00f3n y Posgrado, Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"},{"id":"https://openalex.org/F4320324217","display_name":"Comisi\u00f3n de Operaci\u00f3n y Fomento de Actividades Acad\u00e9micas, Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3082937584.pdf","grobid_xml":"https://content.openalex.org/works/W3082937584.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1987734719","https://openalex.org/W2013442335","https://openalex.org/W2025564389","https://openalex.org/W2063689105","https://openalex.org/W2069586420","https://openalex.org/W2088363200","https://openalex.org/W2115990616","https://openalex.org/W2310392873","https://openalex.org/W2337562259","https://openalex.org/W2344406252","https://openalex.org/W2622287508","https://openalex.org/W2736492724","https://openalex.org/W2744805186","https://openalex.org/W2771218478","https://openalex.org/W2771566166","https://openalex.org/W2772625218","https://openalex.org/W2774681009","https://openalex.org/W2789251136","https://openalex.org/W2791425754","https://openalex.org/W2794441464","https://openalex.org/W2804674542","https://openalex.org/W2805859040","https://openalex.org/W2884079541","https://openalex.org/W2885153417","https://openalex.org/W2885854518","https://openalex.org/W2889143245","https://openalex.org/W2889834269","https://openalex.org/W2891333021","https://openalex.org/W2892404678","https://openalex.org/W2896531728","https://openalex.org/W2899506159","https://openalex.org/W2904312363","https://openalex.org/W2906472529","https://openalex.org/W2912630714","https://openalex.org/W2913845422","https://openalex.org/W2922380376","https://openalex.org/W2940265767","https://openalex.org/W2942307437","https://openalex.org/W2947375827","https://openalex.org/W2956309146","https://openalex.org/W2991442441","https://openalex.org/W3014819769","https://openalex.org/W3018898752","https://openalex.org/W3099340829","https://openalex.org/W4232695357","https://openalex.org/W6775691121","https://openalex.org/W6814141598"],"related_works":["https://openalex.org/W631083485","https://openalex.org/W4313452936","https://openalex.org/W2097026685","https://openalex.org/W2480068220","https://openalex.org/W2102542442","https://openalex.org/W1986220761","https://openalex.org/W2070883797","https://openalex.org/W2042495646","https://openalex.org/W4386859288","https://openalex.org/W2169811953"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2],"solve":[3],"the":[4,26,42,50,56,65,71,80,95,106,134,137,157,169],"trajectory":[5],"tracking":[6,123,160,171],"task":[7],"in":[8,20,92,127,163,174],"a":[9,14,35,46,60,75,101,111,121],"wheeled":[10],"mobile":[11],"robot":[12],"(WMR),":[13],"dynamic":[15,47,158],"three-level":[16,159],"controller":[17,24,36,97,161,172],"is":[18,37,45,59,74,166],"presented":[19,162],"this":[21,164],"paper.":[22],"The":[23,87,114],"considers":[25],"mechanical":[27,138],"structure,":[28,139],"actuators,":[29,140],"and":[30,90,110,141],"power":[31,81,85,142],"stage":[32,82,143],"subsystems.":[33,144],"Such":[34],"designed":[38,132],"as":[39],"follows:":[40],"At":[41,55],"high":[43],"level":[44,58,73],"control":[48,63,78],"for":[49,64,79],"WMR":[51],"(differential":[52],"drive":[53],"type).":[54],"medium":[57],"PI":[61],"current":[62],"actuators":[66],"(DC":[67],"motors).":[68],"Lastly,":[69],"at":[70],"low":[72],"differential":[76],"flatness-based":[77],"(DC/DC":[83],"Buck":[84],"converters).":[86],"feasibility,":[88],"robustness,":[89],"performance":[91],"closed-loop":[93],"of":[94,136],"proposed":[96],"are":[98,117,148,153],"validated":[99],"on":[100,133],"DDWMR":[102],"prototype":[103],"through":[104],"Matlab-Simulink,":[105],"real-time":[107],"interface":[108],"ControlDesk,":[109],"DS1104":[112],"board.":[113],"obtained":[115],"results":[116],"experimentally":[118],"assessed":[119],"with":[120],"hierarchical":[122,170],"controller,":[124],"recently":[125],"reported":[126,173],"literature,":[128],"that":[129],"was":[130],"also":[131],"basis":[135],"Although":[145],"both":[146],"controllers":[147],"robust":[149],"when":[150],"parametric":[151],"disturbances":[152],"taken":[154],"into":[155],"account,":[156],"paper":[165],"better":[167],"than":[168],"literature.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}