{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T18:09:02Z","timestamp":1771956542528,"version":"3.50.1"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"12","license":[{"start":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T00:00:00Z","timestamp":1564531200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T00:00:00Z","timestamp":1564531200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Guangdong Science and Technology Project","award":["2015B010133002"],"award-info":[{"award-number":["2015B010133002"]}]},{"name":"Guangdong Science and Technology Project","award":["2017B090910011"],"award-info":[{"award-number":["2017B090910011"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput & Applic"],"published-print":{"date-parts":[[2020,6]]},"DOI":"10.1007\/s00521-019-04373-9","type":"journal-article","created":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T14:03:01Z","timestamp":1564581781000},"page":"8735-8745","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Asymptotic tracking control of uncertain nonholonomic wheeled mobile robot with actuator saturation and external disturbances"],"prefix":"10.1007","volume":"32","author":[{"given":"Yuxiang","family":"Wu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4525-4931","authenticated-orcid":false,"given":"Yu","family":"Wang","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,7,31]]},"reference":[{"issue":"2","key":"4373_CR1","doi-asserted-by":"crossref","first-page":"449","DOI":"10.1017\/S0263574714001581","volume":"34","author":"Z Cao","year":"2014","unstructured":"Cao Z, Yin L, Fu Y, Dai JS (2014) Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot. Robotica 34(2):449\u2013467","journal-title":"Robotica"},{"key":"4373_CR2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0916-3","author":"E Kayacan","year":"2018","unstructured":"Kayacan E, Chowdhary G (2018) Tracking error learning control for precise mobile robot path tracking in outdoor environment. J Intell Robot Syst. \nhttps:\/\/doi.org\/10.1007\/s10846-018-0916-3","journal-title":"J Intell Robot Syst"},{"issue":"2","key":"4373_CR3","doi-asserted-by":"crossref","first-page":"206","DOI":"10.1049\/iet-cta.2017.0395","volume":"12","author":"H Yang","year":"2018","unstructured":"Yang H, Guo M, Xia Y, Cheng L (2018) Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. IET Control Theory Appl 12(2):206\u2013214","journal-title":"IET Control Theory Appl"},{"key":"4373_CR4","unstructured":"Fu J, Tian F, Chai T, Jing Y, Li Z, Su CY (2018) Motion tracking control design for a class of nonholonomic mobile robot systems. In: IEEE transactions on systems, man, and cybernetics: systems, pp 1\u20137"},{"issue":"2","key":"4373_CR5","doi-asserted-by":"crossref","first-page":"571","DOI":"10.1109\/TCYB.2016.2646719","volume":"48","author":"L Li","year":"2018","unstructured":"Li L, Liu Y, Jiang T, Wang K, Fang M (2018) Adaptive trajectory tracking of nonholonomic mobile robots using vision-based position and velocity estimation. IEEE Trans Cybern 48(2):571\u2013582","journal-title":"IEEE Trans Cybern"},{"issue":"2","key":"4373_CR6","doi-asserted-by":"crossref","first-page":"465","DOI":"10.1007\/s12555-017-0711-0","volume":"17","author":"NT Binh","year":"2019","unstructured":"Binh NT, Tung NA, Nam DP, Quang NH (2019) An adaptive backstepping trajectory tracking control of a tractor trailer wheeled mobile robot. Int J Control Autom Syst 17(2):465\u2013473","journal-title":"Int J Control Autom Syst"},{"issue":"4","key":"4373_CR7","doi-asserted-by":"crossref","first-page":"1303","DOI":"10.1007\/s00521-016-2769-7","volume":"30","author":"CH Chiu","year":"2018","unstructured":"Chiu CH, Lin CM (2018) Control of an omnidirectional spherical mobile robot using an adaptive mamdani-type fuzzy control strategy. Neural Comput Appl 30(4):1303\u20131315","journal-title":"Neural Comput Appl"},{"issue":"6","key":"4373_CR8","doi-asserted-by":"crossref","first-page":"1271","DOI":"10.1007\/s10845-013-0729-y","volume":"25","author":"VQ Dang","year":"2014","unstructured":"Dang VQ, Nielsen IE, Stegerjensen K, MAdsen O (2014) Scheduling a single mobile robot for part-feeding tasks of production lines. J Intell Manuf 25(6):1271\u20131287","journal-title":"J Intell Manuf"},{"key":"4373_CR9","doi-asserted-by":"crossref","unstructured":"Chen Y, Wu F, Shuai W, Wang N, Chen R, Chen X (2015) KeJia robot\u2014an attractive shopping mall guider. In: International conference on social robotics, Springer, Cham pp 145\u2013154","DOI":"10.1007\/978-3-319-25554-5_15"},{"issue":"7","key":"4373_CR10","doi-asserted-by":"crossref","first-page":"1059","DOI":"10.1017\/S0263574713000283","volume":"31","author":"KM Hassan","year":"2013","unstructured":"Hassan KM, Alireza A, Maryam ADN (2013) Teaching-learning-based optimal interval type-2 fuzzy pid controller design: a nonholonomic wheeled mobile robots. Robotica 31(7):1059\u20131071","journal-title":"Robotica"},{"issue":"3","key":"4373_CR11","doi-asserted-by":"crossref","first-page":"821","DOI":"10.1016\/j.automatica.2013.12.036","volume":"50","author":"C Wen","year":"2014","unstructured":"Wen C, Huang J, Wang W, Jiang ZP (2014) Adaptive output feedback tracking control of a nonholonomic mobile robot. Automatica 50(3):821\u2013831","journal-title":"Automatica"},{"issue":"3","key":"4373_CR12","doi-asserted-by":"crossref","first-page":"265","DOI":"10.1080\/00423110801995727","volume":"47","author":"A Alfi","year":"2009","unstructured":"Alfi A, Farrokhi M (2009) Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles. Veh Syst Dyn 47(3):265\u2013284","journal-title":"Veh Syst Dyn"},{"key":"4373_CR13","doi-asserted-by":"crossref","first-page":"74","DOI":"10.1016\/j.neucom.2015.11.099","volume":"198","author":"D Huang","year":"2016","unstructured":"Huang D, Zhai J, Ai W, Fei S (2016) Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots. Neurocomputing 198:74\u201379","journal-title":"Neurocomputing"},{"issue":"3","key":"4373_CR14","doi-asserted-by":"crossref","first-page":"601","DOI":"10.1007\/s10846-017-0486-9","volume":"87","author":"N Esmaeili","year":"2017","unstructured":"Esmaeili N, Alfi A, Khosravi H (2017) Balancing and trajectory tracking of two-wheeled mobile robot using backstepping sliding mode control: design and experiments. J Intell Robot Syst 87(3):601\u2013613","journal-title":"J Intell Robot Syst"},{"key":"4373_CR15","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2018.143619","author":"J-Y Zhai","year":"2018","unstructured":"Zhai J-Y, Song Z-B (2018) Adaptive sliding mode trajectory tracking control for wheeled mobile robots. Int J Control. \nhttps:\/\/doi.org\/10.1080\/00207179.2018.143619","journal-title":"Int J Control"},{"issue":"9\u201310","key":"4373_CR16","first-page":"924","volume":"32","author":"K Yasmine","year":"2018","unstructured":"Yasmine K, Mohamed B, Tarak D (2018) Adaptive sliding mode control for trajectory tracking of nonholonomic mobile robot with uncertain kinematics and dynamics. Appl Artif Intell 32(9\u201310):924\u2013938","journal-title":"Appl Artif Intell"},{"key":"4373_CR17","first-page":"1","volume":"4","author":"X Wu","year":"2019","unstructured":"Wu X, Jin P, Zou T, Qi Z, Lou P (2019) Backstepping trajectory tracking based on fuzzy sliding mode control for differential mobile robots. J Intell Robot Syst 4:1\u201313","journal-title":"J Intell Robot Syst"},{"key":"4373_CR18","doi-asserted-by":"crossref","first-page":"337","DOI":"10.1016\/j.isatra.2016.01.005","volume":"61","author":"W Zeng","year":"2016","unstructured":"Zeng W, Wang Q, Liu F, Wang Y (2016) Learning from adaptive neural network output feedback control of a unicycle-type mobile robot. ISA Trans 61:337\u2013347","journal-title":"ISA Trans"},{"issue":"5","key":"4373_CR19","doi-asserted-by":"crossref","first-page":"1179","DOI":"10.1007\/s00521-014-1805-8","volume":"26","author":"FG Rossomando","year":"2015","unstructured":"Rossomando FG, Soria CM (2015) Identification and control of nonlinear dynamics of a mobile robot in discrete time using an adaptive technique based on neural PID. Neural Comput Appl 26(5):1179\u20131191","journal-title":"Neural Comput Appl"},{"issue":"3\u20134","key":"4373_CR20","doi-asserted-by":"crossref","first-page":"931","DOI":"10.1007\/s10846-013-9843-5","volume":"74","author":"FG Rossomando","year":"2014","unstructured":"Rossomando FG, Soria C, Carelli R (2014) Sliding mode neuro adaptive control in trajectory tracking for mobile robots. J Intell Robot Syst 74(3\u20134):931\u2013944","journal-title":"J Intell Robot Syst"},{"key":"4373_CR21","doi-asserted-by":"publisher","DOI":"10.1155\/2017\/3671846","author":"S Peng","year":"2017","unstructured":"Peng S, Shi W (2017) Adaptive fuzzy integral terminal sliding mode control of a nonholonomic wheeled mobile robot. Math Probl Eng. \nhttps:\/\/doi.org\/10.1155\/2017\/3671846","journal-title":"Math Probl Eng"},{"key":"4373_CR22","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1016\/j.robot.2017.03.001","volume":"92","author":"M Boukens","year":"2017","unstructured":"Boukens M, Boukabou A, Chadli M (2017) Robust adaptive neural network-based trajectory tracking control approach for nonholonomic electrically driven mobile robots. Robot Auton Syst 92:30\u201340","journal-title":"Robot Auton Syst"},{"key":"4373_CR23","volume-title":"Deterministic learning theory for identification, recognition, and control","author":"C Wang","year":"2009","unstructured":"Wang C, Hill DJ (2009) Deterministic learning theory for identification, recognition, and control, 1st edn. CRC Press Inc, Boca Raton","edition":"1"},{"key":"4373_CR24","doi-asserted-by":"crossref","first-page":"300","DOI":"10.1016\/j.ins.2013.09.043","volume":"269","author":"H Wang","year":"2014","unstructured":"Wang H, Chen B, Liu X, Liu K, Lin C (2014) Adaptive neural tracking control for stochastic nonlinear strict-feedback systems with unknown input saturation. Inf Sci 269:300\u2013315","journal-title":"Inf Sci"},{"issue":"6","key":"4373_CR25","first-page":"2093","volume":"43","author":"H Wang","year":"2013","unstructured":"Wang H, Chen B, Liu X, Liu K, Lin C (2013) Robust adaptive fuzzy tracking control for pure-feedback stochastic nonlinear systems with input constraints. IEEE Trans Syst Man Cybern 43(6):2093\u20132104","journal-title":"IEEE Trans Syst Man Cybern"},{"key":"4373_CR26","unstructured":"Bezzaoucha S, Marx B, Maquin D, Ragot J (2012) Linear feedback control input under actuator saturation: a Takagi\u2013Sugeno approach. In 2nd international conference on systems and control, ICSC 2012"},{"issue":"5","key":"4373_CR27","doi-asserted-by":"crossref","first-page":"1317","DOI":"10.1007\/s00521-015-1935-7","volume":"27","author":"S Zhou","year":"2016","unstructured":"Zhou S, Chen M, Ong CJ, Chen PCY (2016) Adaptive neural network control of uncertain MIMO nonlinear systems with input saturation. Neural Comput Appl 27(5):1317\u20131325","journal-title":"Neural Comput Appl"},{"issue":"1","key":"4373_CR28","doi-asserted-by":"crossref","first-page":"212","DOI":"10.1007\/s12555-015-0222-9","volume":"15","author":"F Wang","year":"2017","unstructured":"Wang F, Zou Q, Zong Q (2017) Robust adaptive backstepping control for an uncertain nonlinear system with input constraint based on Lyapunov redesign. Int J Control Autom Syst 15(1):212\u2013225","journal-title":"Int J Control Autom Syst"},{"issue":"8","key":"4373_CR29","doi-asserted-by":"crossref","first-page":"2185","DOI":"10.1109\/TSMC.2016.2635678","volume":"47","author":"H Li","year":"2017","unstructured":"Li H, Bai L, Zhou Q, Lu R, Wang L (2017) Adaptive fuzzy control of stochastic nonstrict-feedback nonlinear systems with input saturation. IEEE Trans Syst Man Cybern Syst 47(8):2185\u20132197","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"issue":"7","key":"4373_CR30","doi-asserted-by":"crossref","first-page":"565","DOI":"10.1007\/s00521-016-2540-0","volume":"29","author":"M Cai","year":"2018","unstructured":"Cai M, Xiang Z (2018) Adaptive finite-time control of a class of non-triangular nonlinear systems with input saturation. Neural Comput Appl 29(7):565\u2013576","journal-title":"Neural Comput Appl"},{"issue":"1","key":"4373_CR31","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1017\/S0263574714000046","volume":"33","author":"K Shojaei","year":"2015","unstructured":"Shojaei K (2015) Saturated output feedback control of uncertain nonholonomic wheeled mobile robots. Robotica 33(1):87\u2013105","journal-title":"Robotica"},{"issue":"8","key":"4373_CR32","doi-asserted-by":"crossref","first-page":"751","DOI":"10.1080\/08839514.2014.952918","volume":"28","author":"M Yue","year":"2014","unstructured":"Yue M, Wu G, Wang S, An C (2014) Disturbance observer-based trajectory tracking control for nonholonomic wheeled mobile robot subject to saturated velocity constraint. Appl Artif Intell 28(8):751\u2013765","journal-title":"Appl Artif Intell"},{"issue":"6","key":"4373_CR33","doi-asserted-by":"crossref","first-page":"1216","DOI":"10.1007\/s12555-013-0492-z","volume":"12","author":"H Chen","year":"2014","unstructured":"Chen H (2014) Robust stabilization for a class of dynamic feedback uncertain nonholonomic mobile robots with input saturation. Int J Control Autom Syst 12(6):1216\u20131224","journal-title":"Int J Control Autom Syst"},{"issue":"3","key":"4373_CR34","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1016\/j.sysconle.2012.11.020","volume":"62","author":"J Huang","year":"2013","unstructured":"Huang J, Wen C, Wang W, Jiang ZP (2013) Adaptive stabilization and tracking control of a nonholonomic mobile robot with input saturation and disturbance. Syst Control Lett 62(3):234\u2013241","journal-title":"Syst Control Lett"},{"issue":"2","key":"4373_CR35","doi-asserted-by":"crossref","first-page":"608","DOI":"10.1109\/TAC.2017.2736518","volume":"63","author":"Z Sun","year":"2018","unstructured":"Sun Z, Dai L, Xia Y, Liu K (2018) Event-based model predictive tracking control of nonholonomic systems with coupled input constraint and bounded disturbances. IEEE Trans Autom Control 63(2):608\u2013615","journal-title":"IEEE Trans Autom Control"},{"issue":"7","key":"4373_CR36","doi-asserted-by":"crossref","first-page":"855","DOI":"10.1002\/acs.2509","volume":"29","author":"K Shojaei","year":"2015","unstructured":"Shojaei K (2015) Neural adaptive robust output feedback control of wheeled mobile robots with saturating actuators. Int J Adapt Control Signal Process 29(7):855\u2013876","journal-title":"Int J Adapt Control Signal Process"},{"issue":"1","key":"4373_CR37","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1115\/1.3140707","volume":"107","author":"MC Good","year":"1985","unstructured":"Good MC, Sweet LM, Strobel KL (1985) Dynamic models for control system design of integrated robot and drive systems. J Dyn Syst Meas Control 107(1):53\u201359","journal-title":"J Dyn Syst Meas Control"},{"issue":"6","key":"4373_CR38","doi-asserted-by":"crossref","first-page":"830","DOI":"10.1049\/iet-cta.2010.0219","volume":"5","author":"BS Park","year":"2011","unstructured":"Park BS, Yoo SJ, Park JB, Choi YH (2011) Adaptive output-feedback control for trajectory tracking of electrically driven non-holonomic mobile robots. IET Control Theory Appl 5(6):830\u2013838","journal-title":"IET Control Theory Appl"},{"issue":"1","key":"4373_CR39","doi-asserted-by":"crossref","first-page":"1165","DOI":"10.1007\/s00521-016-2425-2","volume":"28","author":"W Chang","year":"2017","unstructured":"Chang W, Tong S, Li Y (2017) Adaptive fuzzy backstepping output constraint control of flexible manipulator with actuator saturation. Neural Comput Appl 28(1):1165\u20131175","journal-title":"Neural Comput Appl"},{"issue":"2","key":"4373_CR40","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1109\/70.928562","volume":"17","author":"MR Sirouspour","year":"2001","unstructured":"Sirouspour MR, Salcudean SE (2001) Nonlinear control of hydraulic robots. IEEE Trans Robot Autom 17(2):173\u2013182","journal-title":"IEEE Trans Robot Autom"},{"issue":"9","key":"4373_CR41","doi-asserted-by":"crossref","first-page":"633","DOI":"10.1016\/j.sysconle.2009.04.001","volume":"58","author":"T Liu","year":"2009","unstructured":"Liu T, Wang C, Hill DJ (2009) Learning from neural control of nonlinear systems in normal form. Syst Control Lett 58(9):633\u2013638","journal-title":"Syst Control Lett"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-019-04373-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00521-019-04373-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-019-04373-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,29]],"date-time":"2020-07-29T23:42:32Z","timestamp":1596066152000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00521-019-04373-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,31]]},"references-count":41,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2020,6]]}},"alternative-id":["4373"],"URL":"https:\/\/doi.org\/10.1007\/s00521-019-04373-9","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,31]]},"assertion":[{"value":"30 January 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 July 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 July 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflicts of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}