{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T08:10:23Z","timestamp":1737187823583,"version":"3.33.0"},"reference-count":20,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5276,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article deals with the stabilization problem of a class of nonlinear second\u2010order multivariable dynamical systems with bounded uncertainties. A robust discontinuous controller is proposed to guarantee asymptotic stability of this class of systems. Then, to guarantee the continuity of the control, a<jats:italic>quasi<\/jats:italic>\u2010saturation function is introduced into the control law. Guaranteed eventual stability\u2010in\u2010the\u2010large (ESL) of the dynamical systems is proved with the continuous, robust controller, which is much different from the standard \u201ccomputed\u2010torque control.\u201d The controller requires known bounding functions that are easier to determine as well as more general than the bounds needed in other approaches. An application is given to trajectory\u2010following control for a two\u2010link mobile robot. \u00a9 1992 John Wiley &amp; Sons Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090703","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:13:48Z","timestamp":1183727628000},"page":"893-913","source":"Crossref","is-referenced-by-count":6,"title":["Application of robust control techniques to a mobile robot system"],"prefix":"10.1002","volume":"9","author":[{"given":"Kai","family":"Liu","sequence":"first","affiliation":[]},{"given":"Frank L.","family":"Lewis","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1964.1105694"},{"key":"e_1_2_1_3_2","first-page":"713","article-title":"On the application of Lyapunov's direct method to differential equations with ambiguous right sides","volume":"22","author":"Alimov Y. 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