{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T06:21:27Z","timestamp":1761978087973,"version":"build-2065373602"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2013,10,2]],"date-time":"2013-10-02T00:00:00Z","timestamp":1380672000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/2.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2015,3]]},"DOI":"10.1007\/s10846-013-9882-y","type":"journal-article","created":{"date-parts":[[2013,10,1]],"date-time":"2013-10-01T08:35:49Z","timestamp":1380616549000},"page":"457-479","source":"Crossref","is-referenced-by-count":7,"title":["Motion Control of Vehicles with Trailers Using Transverse Function Approach"],"prefix":"10.1007","volume":"77","author":[{"given":"Dariusz","family":"Pazderski","sequence":"first","affiliation":[]},{"given":"Dorota K.","family":"Wa\u015bkowicz","sequence":"additional","affiliation":[]},{"given":"Krzysztof","family":"Koz\u0142owski","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2013,10,2]]},"reference":[{"key":"9882_CR1","unstructured":"Artus, G., Morin, P., Samson, C.: Tracking of an omnidirectional target with a unicycle-like robot: control design and experimental results. Research Report INRIA 4849, INRIA (2003)"},{"key":"9882_CR2","doi-asserted-by":"crossref","first-page":"1791","DOI":"10.1109\/9.173153","volume":"37","author":"CC Wit de","year":"1992","unstructured":"de\u00a0Wit, C.C., S\u00f8rdalen, O.J.: Exponential stabilization of mobile robots with nonholonomic constraints. IEEE Trans. Autom. Control 37, 1791\u20131797 (1992)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"9882_CR3","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1109\/TCST.2003.810394","volume":"11","author":"I Dul\u0119ba","year":"2003","unstructured":"Dul\u0119ba, I., S\u0105siadek, J.: Nonholonomic motion planning based on Newton algorithm with energy optimization. IEEE Trans. Control Syst. Technol. 11(3), 355\u2013363 (2003)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"1","key":"9882_CR4","first-page":"355","volume":"58","author":"P Dutkiewicz","year":"2010","unstructured":"Dutkiewicz, P., Kie\u0142czewski, M., Koz\u0142owski, K., Pazderski, D.: Vision localization system for mobile robot with velocities and acceleration estimator. Bull. Pol. Ac.: Tech. 58(1), 355\u2013363 (2010)","journal-title":"Bull. Pol. Ac.: Tech."},{"issue":"6","key":"9882_CR5","doi-asserted-by":"crossref","first-page":"1327","DOI":"10.1080\/00207179508921959","volume":"61","author":"M Fliess","year":"1995","unstructured":"Fliess, M., Levine, J., Martin, P., Rouchon, P.: Flatness and defect of non-linear systems: introductory theory and examples. Int. J. Control. 61(6), 1327\u20131361 (1995)","journal-title":"Int. J. Control."},{"key":"9882_CR6","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1016\/S0005-1098(99)00115-6","volume":"36","author":"ZP Jiang","year":"2000","unstructured":"Jiang, Z.P.: Robust exponential regulation of nonholonomic systems with uncertainties. Automatica 36, 189\u2013209 (2000)","journal-title":"Automatica"},{"key":"9882_CR7","doi-asserted-by":"crossref","unstructured":"Lafferriere, G., Sussmann, H.J.: A differential geometric approach to motion planning. In: Nonholonomic Motion Planning, pp. 235\u2013270. Kluwer (1993)","DOI":"10.1007\/978-1-4615-3176-0_7"},{"key":"9882_CR8","first-page":"1","volume-title":"Lecture Notes in Control and Information Sciences, Robot Motion Planning and Control, vol. 229","author":"JP Laumond","year":"1998","unstructured":"Laumond, J.P., Sekhavat, S., Lamiraux, F.: Guidelines in nonholonomic motion planning for mobile robots. In: Lecture Notes in Control and Information Sciences, Robot Motion Planning and Control, vol. 229, pp. 1\u201354. Springer-Verlag, Berlin (1998)"},{"key":"9882_CR9","doi-asserted-by":"crossref","unstructured":"Liz\u00e1rraga, D., Morin, P., Samson, C.: Non-robustness of continuous homogeneous stabilizers for affine control systems. In: Proc. of Conference on Decision and Control, pp.\u00a0855\u2013860. Phoenix, USA (1999)","DOI":"10.1109\/CDC.1999.832897"},{"issue":"1","key":"9882_CR10","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1109\/TCST.2008.2010406","volume":"18","author":"M Micha\u0142ek","year":"2010","unstructured":"Micha\u0142ek, M., Koz\u0142owski, K.: Vector-Field-Orientation feedback control method for a differentially driven vehicle. IEEE Trans. Control Syst. Technol. 18(1), 45\u201365 (2010)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"9882_CR11","doi-asserted-by":"crossref","first-page":"1227","DOI":"10.1137\/S0363012900366054","volume":"40","author":"P Morin","year":"2001","unstructured":"Morin, P., Samson, C.: A characterization of the Lie Algebra rank condition by transverse periodic functions. SIAM J. Control Optim. 40, 1227\u20131249 (2001)","journal-title":"SIAM J. Control Optim."},{"key":"9882_CR12","doi-asserted-by":"crossref","unstructured":"Morin, P., Samson, C.: Practical and asymptotic stabilization of the 3-D chained system by the transverse function approach. In: Proceedings of 42nd IEEE Conference on Decision and Control, vol. 5, pp. 4700\u20134704 (2003)","DOI":"10.1109\/CDC.2003.1272316"},{"issue":"9","key":"9882_CR13","doi-asserted-by":"crossref","first-page":"1496","DOI":"10.1109\/TAC.2003.816963","volume":"48","author":"P Morin","year":"2003","unstructured":"Morin, P., Samson, C.: Practical stabilization of driftless systems on Lie groups: the transverse function approach. IEEE Trans. Autom. Control 48(9), 1496\u20131508 (2003)","journal-title":"IEEE Trans. Autom. Control"},{"key":"9882_CR14","doi-asserted-by":"crossref","first-page":"799","DOI":"10.1007\/978-3-540-30301-5_35","volume-title":"Springer Handbook of Robotics","author":"P Morin","year":"2008","unstructured":"Morin, P., Samson, C.: Motion control of wheeled mobile robots. In: Springer Handbook of Robotics, pp. 799\u2013826. Springer, Berlin Heidelberg (2008)"},{"key":"9882_CR15","unstructured":"Morin, P., Samson, C.: Trajectory tracking for nonholonomic systems. Theoretical background and applications. Rapport de recherche RR-6464, INRIA (2008). URL: http:\/\/hal.inria.fr\/inria-00260694"},{"key":"9882_CR16","doi-asserted-by":"crossref","unstructured":"Morin, P., Samson, C.: Transverse function control of a class of non-invariant driftless systems, application to vehicles with trailers. In: Proceedings of 47th IEEE Conference on Decision and Control, pp.\u00a04312\u20134319 (2008)","DOI":"10.1109\/CDC.2008.4739080"},{"issue":"5","key":"9882_CR17","doi-asserted-by":"crossref","first-page":"1058","DOI":"10.1109\/TRO.2009.2014123","volume":"25","author":"P Morin","year":"2009","unstructured":"Morin, P., Samson, C.: Control of nonholonomic mobile robots based on the transverse function approach. IEEE Trans. Robot. 25(5), 1058\u20131073 (2009)","journal-title":"IEEE Trans. Robot."},{"key":"9882_CR18","doi-asserted-by":"crossref","first-page":"700","DOI":"10.1109\/9.277235","volume":"38","author":"R Murray","year":"1993","unstructured":"Murray, R., Sastry, S.S.: Nonholonomic motion planning: steering using sinusoids. IEEE Trans. Autom. Control 38, 700\u2013716 (1993)","journal-title":"IEEE Trans. Autom. Control"},{"key":"9882_CR19","doi-asserted-by":"crossref","unstructured":"Pazderski, D., Koz\u0142owski, K.: Practical stabilization of two-wheel mobile robot with velocity limitations using time-varying control law. In: Proceedings of the 5th International Workshop on Robot Motion and Control, pp. 205\u2013212 (2005)","DOI":"10.1109\/ROMOCO.2005.201425"},{"key":"9882_CR20","doi-asserted-by":"crossref","unstructured":"Pazderski, D., Koz\u0142owski, K.: Trajectory tracking of underactuated skid-steering robot. In: Proceedings of the American Control Conference, pp. 3506\u20133511 (2008)","DOI":"10.1109\/ACC.2008.4587036"},{"issue":"3","key":"9882_CR21","first-page":"537","volume":"60","author":"D Pazderski","year":"2012","unstructured":"Pazderski, D., Koz\u0142owski, K., Wa\u015bkowicz, D.: Control of a unicycle-like robot with trailers using transverse function approach. Bull. Pol. Ac.: Tech. 60(3), 537\u2013546 (2012)","journal-title":"Bull. Pol. Ac.: Tech."},{"key":"9882_CR22","first-page":"35","volume-title":"Lecture Notes in Control and Information Sciences","author":"D Pazderski","year":"2012","unstructured":"Pazderski, D., Krysiak, B., Koz\u0142owski, K.: A comparison study of discontinuous control algorithms for three-link nonholonomic manipulator. In: Lecture Notes in Control and Information Sciences, pp. 35\u201344. Springer-Verlag, Berlin Heidenberg (2012)"},{"issue":"2","key":"9882_CR23","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1016\/0167-6911(92)90019-O","volume":"18","author":"JB Pomet","year":"1992","unstructured":"Pomet, J.B.: Explicit design of time varying stabilization control laws for a class of controllable systems without drifts. Syst. Control Lett. 18(2), 147\u2013158 (1992)","journal-title":"Syst. Control Lett."},{"key":"9882_CR24","doi-asserted-by":"crossref","unstructured":"Pomet, J.B., Thuilot, B., Bastin, G., Campion, G.: A hybrid strategy for the feedback stabilization of nonholonomic mobile robots. In: Proceedings of the 1992 IEEE International Conference on Robotics and Automation, pp. 129\u2013134. Nice, France (1992)","DOI":"10.1109\/ROBOT.1992.220323"},{"issue":"10","key":"9882_CR25","doi-asserted-by":"crossref","first-page":"1768","DOI":"10.1109\/TAC.2003.817909","volume":"48","author":"C Prieur","year":"2003","unstructured":"Prieur, C., Astolfi, A.: Robust stabilization of chained systems via hybrid control. IEEE Trans. Autom. Control 48(10), 1768\u20131772 (2003)","journal-title":"IEEE Trans. Autom. Control"},{"key":"9882_CR26","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1007\/BFb0039269","volume-title":"Advanced Robot Control","author":"C Samson","year":"1991","unstructured":"Samson, C.: Velocity and torque feedback control of a nonholonomic cart. In: de Wit, C.C. (ed.) Advanced Robot Control, pp. 125\u2013151. Birkhauser, Boston, MA (1991)"},{"issue":"6","key":"9882_CR27","doi-asserted-by":"crossref","first-page":"837","DOI":"10.1109\/70.265927","volume":"9","author":"OJ S\u00f8rdalen","year":"1993","unstructured":"S\u00f8rdalen, O.J., de\u00a0Wit, C.C.: Exponential control law for a mobile robot: extention to path following. IEEE Trans. Robot. Autom. 9(6), 837\u2013842 (1993)","journal-title":"IEEE Trans. Robot. Autom."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9882-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-013-9882-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-013-9882-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,30]],"date-time":"2025-04-30T15:05:32Z","timestamp":1746025532000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-013-9882-y"}},"subtitle":["Controller Properties Analysis"],"short-title":[],"issued":{"date-parts":[[2013,10,2]]},"references-count":27,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2015,3]]}},"alternative-id":["9882"],"URL":"https:\/\/doi.org\/10.1007\/s10846-013-9882-y","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2013,10,2]]}}}