{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T07:27:24Z","timestamp":1774510044338,"version":"3.50.1"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2019,12,29]],"date-time":"2019-12-29T00:00:00Z","timestamp":1577577600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,12,29]],"date-time":"2019-12-29T00:00:00Z","timestamp":1577577600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"NSFC","doi-asserted-by":"crossref","award":["61573148"],"award-info":[{"award-number":["61573148"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Science and Technology Planning Project of Guangdong","award":["2017B090901043"],"award-info":[{"award-number":["2017B090901043"]}]},{"name":"The Science and Technology Planning Project of Guangzhou","award":["201604046015"],"award-info":[{"award-number":["201604046015"]}]},{"name":"Guangzhou U- niversity Innovation and Entrepreneurship Education Project","award":["2017271201 and 201709P07"],"award-info":[{"award-number":["2017271201 and 201709P07"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1007\/s10846-019-01083-1","type":"journal-article","created":{"date-parts":[[2019,12,29]],"date-time":"2019-12-29T05:02:16Z","timestamp":1577595736000},"page":"439-453","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":80,"title":["A Robust Model Predictive Control Strategy for Trajectory Tracking of Omni-directional Mobile Robots"],"prefix":"10.1007","volume":"98","author":[{"given":"Dongliang","family":"Wang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8734-1582","authenticated-orcid":false,"given":"Wu","family":"Wei","sequence":"additional","affiliation":[]},{"given":"Yao","family":"Yeboah","sequence":"additional","affiliation":[]},{"given":"Yanjie","family":"Li","sequence":"additional","affiliation":[]},{"given":"Yong","family":"Gao","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,12,29]]},"reference":[{"issue":"1","key":"1083_CR1","doi-asserted-by":"publisher","first-page":"175","DOI":"10.1109\/TRA.2002.807528","volume":"19","author":"M Oya","year":"2003","unstructured":"Oya, M., Su, C.Y., Katoh, R.: Robust adaptive motion\/force tracking control of uncertain nonholonomic mechanical systems. IEEE Trans. Robot. Autom. 19(1), 175\u2013181 (2003)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"2","key":"1083_CR2","doi-asserted-by":"publisher","first-page":"657","DOI":"10.1109\/TLA.2016.7437207","volume":"14","author":"RS Ortigoza","year":"2016","unstructured":"Ortigoza, R.S., Sanchez, J.R.G.: Trajectory tracking control for a differential drive wheeled mobile robot considering the dynamics related to the actuators and power stage. IEEE Latin Amer. Trans. 14(2), 657\u2013664 (2016)","journal-title":"IEEE Latin Amer. Trans."},{"issue":"6","key":"1083_CR3","doi-asserted-by":"publisher","first-page":"740","DOI":"10.1109\/TSMC.2015.2465352","volume":"46","author":"Z Li","year":"2015","unstructured":"Li, Z., Deng, J., Lu, R., Su, C.Y.: Trajectory-Tracking Control of mobile robot systems incorporating Neural-Dynamic optimized model predictive approach. IEEE Trans. Syst. Man Cybern. Syst. 46(6), 740\u2013749 (2015)","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"2","key":"1083_CR4","first-page":"206","volume":"12","author":"H Yang","year":"2018","unstructured":"Yang, H., Guo, M., Xia, Y., Cheng, L.: Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints. Inst. Eng. Technol. 12(2), 206\u2013214 (2018)","journal-title":"Inst. Eng. Technol."},{"issue":"4","key":"1083_CR5","doi-asserted-by":"publisher","first-page":"480","DOI":"10.1109\/70.313098","volume":"10","author":"FG Pin","year":"1994","unstructured":"Pin, F.G., Killough, S.M.: A new family of omnidirectional and holonomic wheeled platforms for mobile robots. IEEE Trans. Robot. Autom. 10(4), 480\u2013489 (1994)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"1083_CR6","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1109\/70.481750","volume":"12","author":"G Campion","year":"1996","unstructured":"Campion, G., Bastin, G.: Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Trans. Robot. Autom. 12(1), 47\u201362 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"1083_CR7","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1108\/01439911011009939","volume":"37","author":"C Leng","year":"2010","unstructured":"Leng, C., Cao, Q., Lo, C.: A motion control method for omni-directional mobile robots based on anisotropy. Ind. Robot: Int. J. 37(1), 23\u201335 (2010)","journal-title":"Ind. Robot: Int. J."},{"key":"1083_CR8","unstructured":"Oliveira, H.P., Sousa, A.J., Moreira, A.P., Costa, P.J.: Modeling and Assessing of Omni-Directional Robots with Three and Four Wheels. In Contemporary robotics-challenges and solutions. InTech. (2009)"},{"key":"1083_CR9","unstructured":"Leow, Y.P., Low, K.H., Loh, W.K.: Kinematic Modelling and Analysis of Mobile Robots with Omni-Directional Wheels, vol. 2. IEEE (2003)"},{"issue":"1","key":"1083_CR10","doi-asserted-by":"publisher","first-page":"10250","DOI":"10.1016\/j.ifacol.2017.08.1286","volume":"50","author":"J Santos","year":"2017","unstructured":"Santos, J., Conceicao, A.G.S., Santos, T.L.M.: Trajectory tracking of Omni-directional Mobile Robots via Predictive Control plus a Filtered Smith Predictor. IFAC-PapersOnLine 50(1), 10250\u201310255 (2017)","journal-title":"IFAC-PapersOnLine"},{"issue":"3","key":"1083_CR11","doi-asserted-by":"publisher","first-page":"329","DOI":"10.1016\/S0094-114X(99)00017-8","volume":"35","author":"P Fisette","year":"2000","unstructured":"Fisette, P., Ferriere, L., Raucent, B., Vaneghem, B.: A multibody approach for modelling universal wheels of mobile robots. Mech. Mach. Theory 35(3), 329\u2013351 (2000)","journal-title":"Mech. Mach. Theory"},{"issue":"2","key":"1083_CR12","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1108\/01439911011018975","volume":"37","author":"Y Huang","year":"2010","unstructured":"Huang, Y., Cao, Q., Leng, C.: The path-tracking controller based on dynamic model with slip for one four-wheeled OMR. Ind. Robot: Int. J. 37(2), 193\u2013201 (2010)","journal-title":"Ind. Robot: Int. J."},{"issue":"11","key":"1083_CR13","doi-asserted-by":"publisher","first-page":"930","DOI":"10.1016\/j.robot.2011.07.002","volume":"59","author":"E Hashemi","year":"2011","unstructured":"Hashemi, E., Jadidi, M.G., Jadidi, N.G.: Model-based PI-fuzzy control of four-wheeled omni-directional mobile robots. Robot. Auton. Syst. 59(11), 930\u2013942 (2011)","journal-title":"Robot. Auton. Syst."},{"key":"1083_CR14","doi-asserted-by":"crossref","unstructured":"Vlantis, P., Bechlioulis, C.P., Karras, G., Fourlas, G., Kyriakopoulos, K.J.: Fault tolerant control for omni-directional mobile platforms with 4 Mecanum wheels. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 2395\u20132400. IEEE (2016)","DOI":"10.1109\/ICRA.2016.7487389"},{"issue":"4","key":"1083_CR15","doi-asserted-by":"publisher","first-page":"2147","DOI":"10.1007\/s11071-016-3179-1","volume":"87","author":"V Alakshendra","year":"2017","unstructured":"Alakshendra, V., Chiddarwar, S.S.: Adaptive robust control of Mecanum-wheeled mobile robot with uncertainties. Nonlinear Dyn. 87(4), 2147\u20132169 (2017)","journal-title":"Nonlinear Dyn."},{"issue":"1","key":"1083_CR16","first-page":"1","volume":"15","author":"L Xie","year":"2018","unstructured":"Xie, L., Henkel, C., Stol, K., Xu, W.: Power-minimization and energy-reduction autonomous navigation of an omnidirectional Mecanum robot via the dynamic window approach local trajectory planning. Int. J. Adv. Robot. Syst. 15(1), 1\u201312 (2018)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"1083_CR17","doi-asserted-by":"crossref","unstructured":"Zimmermann, K., Zeidis, I., Abdelrahman, M.: Dynamics of mechanical systems with mecanum wheels. Springer International Publishing Switzerland, pp. 269\u2013279 (2014)","DOI":"10.1007\/978-3-319-08266-0_19"},{"issue":"7","key":"1083_CR18","doi-asserted-by":"publisher","first-page":"4377","DOI":"10.1109\/TIE.2016.2544718","volume":"63","author":"Z Yan","year":"2016","unstructured":"Yan, Z., Le, X., Wang, J.: Tube-Based Robust model predictive control of nonlinear systems via collective neurodynamic optimization. IEEE Trans. Ind. Electron. 63(7), 4377\u20134386 (2016)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"5","key":"1083_CR19","doi-asserted-by":"publisher","first-page":"676","DOI":"10.1017\/S0263574717000637","volume":"36","author":"TP Nascimento","year":"2018","unstructured":"Nascimento, T.P.: Nonholonomic mobile robots\u2019 trajectory tracking model predictive control: a survey. Robotica 36(5), 676\u2013696 (2018)","journal-title":"Robotica"},{"issue":"1","key":"1083_CR20","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1007\/s10846-017-0500-2","volume":"87","author":"HN Huynh","year":"2017","unstructured":"Huynh, H.N., Verlinden, O., Wouwer, A.V.: Comparative application of model predictive control strategies to a wheeled mobile robot. J. Intell. Robot. Syst. 87(1), 81\u201395 (2017)","journal-title":"J. Intell. Robot. Syst."},{"issue":"3","key":"1083_CR21","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1109\/MRA.2016.2580591","volume":"23","author":"CM Best","year":"2016","unstructured":"Best, C.M., Gillespie, M.T., Hyatt, P.: A new soft robot control method: using model predictive control for a pneumatically actuated humanoid. IEEE Robot. Autom. Mag. 23(3), 75\u201384 (2016)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"6","key":"1083_CR22","doi-asserted-by":"publisher","first-page":"2251","DOI":"10.1109\/TCST.2015.2411632","volume":"23","author":"AT Hafez","year":"2015","unstructured":"Hafez, A.T., Marasco, A.J.: Solving multi-UAV dynamic encirclement via model predictive control. IEEE Trans. Control Syst. Technol. 23(6), 2251\u20132265 (2015)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"1","key":"1083_CR23","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1007\/s10846-017-0549-y","volume":"88","author":"G Cao","year":"2017","unstructured":"Cao, G., Lai, M.K., Alam, F.: Gaussian process model predictive control of an unmanned quadrotor. J. Intell. Robot. Syst. 88(1), 147\u2013162 (2017)","journal-title":"J. Intell. Robot. Syst."},{"issue":"3-4","key":"1083_CR24","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1007\/s10846-015-0238-7","volume":"81","author":"K Alexis","year":"2016","unstructured":"Alexis, K., Papachristos, C., Siegwart, R., Tzes, A.: Robust model predictive flight control of unmanned rotorcrafts. J. Intell. Robot. Syst. 81(3-4), 443\u2013469 (2016)","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"1083_CR25","doi-asserted-by":"publisher","first-page":"806","DOI":"10.1109\/TMECH.2015.2492984","volume":"21","author":"E Kayacan","year":"2016","unstructured":"Kayacan, E., Ramon, H., Saeys, W.: Robust trajectory tracking error Model-Based predictive control for unmanned ground vehicles. IEEE\/ASME Trans. Mechatron. 21(2), 806\u2013814 (2016)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"4","key":"1083_CR26","doi-asserted-by":"publisher","first-page":"717","DOI":"10.1109\/JOE.2012.2201797","volume":"37","author":"Z Yan","year":"2012","unstructured":"Yan, Z., Wang, J.: Model predictive control for tracking of underactuated vessels based on recurrent neural networks. IEEE J. Ocean. Eng. 37(4), 717\u2013726 (2012)","journal-title":"IEEE J. Ocean. Eng."},{"issue":"6","key":"1083_CR27","first-page":"4502","volume":"66","author":"X Hanzhen","year":"2018","unstructured":"Hanzhen, X., Philip, C.C.L.: Incremental updating Multi-Robot formation using nonlinear model predictive control method with general projection neural network. IEEE Trans. Ind. Electron. 66(6), 4502\u20134512 (2018)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"2","key":"1083_CR28","doi-asserted-by":"publisher","first-page":"231","DOI":"10.3390\/app8020231","volume":"8","author":"C Wang","year":"2018","unstructured":"Wang, C., Liu, X., Yang, X., Hu, F., Jiang, A., Yang, C.: Trajectory tracking of an Omni-Directional wheeled mobile robot using a model predictive control strategy. Appl. Sci. 8(2), 231 (2018)","journal-title":"Appl. Sci."},{"issue":"1","key":"1083_CR29","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1007\/s12555-016-0393-z","volume":"16","author":"M Yue","year":"2018","unstructured":"Yue, M., An, C., Sun, J.Z.: An efficient model predictive control for trajectory tracking of wheeled inverted pendulum vehicles with various physical constraints. Int. J. Control Autom. Syst. 16(1), 265\u2013274 (2018)","journal-title":"Int. J. Control Autom. Syst."},{"issue":"7","key":"1083_CR30","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1109\/82.160169","volume":"39","author":"S Zhang","year":"1992","unstructured":"Zhang, S., Constantinides, A.G.: Lagrange programming neural networks. IEEE Trans. Circ. Syst Anal. Digit. Signal Process. 39(7), 441\u2013452 (1992)","journal-title":"IEEE Trans. Circ. Syst Anal. Digit. Signal Process."},{"issue":"7","key":"1083_CR31","doi-asserted-by":"publisher","first-page":"1385","DOI":"10.1109\/TCSI.2004.830694","volume":"51","author":"Y Xia","year":"2004","unstructured":"Xia, Y., Wang, J.: A recurrent neural network for nonlinear convex optimization subject to nonlinear inequality constraints. IEEE Trans. Circ. Syst.-Part I : Fund. Theory Appl. 51(7), 1385\u20131394 (2004)","journal-title":"IEEE Trans. Circ. Syst.-Part I : Fund. Theory Appl."},{"issue":"4","key":"1083_CR32","doi-asserted-by":"publisher","first-page":"834","DOI":"10.1109\/TNN.2005.849834","volume":"16","author":"Q Liu","year":"2005","unstructured":"Liu, Q., Cao, J., Xia, Y.: A Delayed Neural Network for Solving Linear Projection Equations and its Analysis. IEEE Trans. Neural Netw. 16(4), 834\u2013843 (2005)","journal-title":"IEEE Trans. Neural Netw."},{"key":"1083_CR33","unstructured":"Xu, G., Jia, X., Shi, H.: Measurement of relative configuration and velocity of mobile robot based on monocular vision. In: 2010 International Conference on Intelligent Computing and Integrated Systems. pp. 294\u2013298. IEEE (2010)"},{"issue":"5","key":"1083_CR34","doi-asserted-by":"publisher","first-page":"2126","DOI":"10.1109\/TSMCB.2004.830347","volume":"34","author":"Y Zhang","year":"2004","unstructured":"Zhang, Y., Ge, S.S., Lee, T.H.: A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators. IEEE Trans. Syst. Man. Cybern. Part B (Cybern.) 34(5), 2126\u20132132 (2004)","journal-title":"IEEE Trans. Syst. Man. Cybern. Part B (Cybern.)"},{"key":"1083_CR35","unstructured":"Yu, S., Qu, T., Chen, H.: Stability of infinite horizon MPC with incremental input constraints. Control Conference IEEE (2013)"},{"issue":"1","key":"1083_CR36","doi-asserted-by":"publisher","first-page":"505","DOI":"10.1109\/TIE.2016.2606358","volume":"64","author":"H Xiao","year":"2016","unstructured":"Xiao, H., Li, Z., Yang, C., Zhang, L., Yuan, P., Ding, L., Wang, T.: Robust Stabilization of A Wheeled Mobile Robot Using Model Predictive Control Based on Neuro-dynamics Optimization. IEEE Trans. Ind. Electron. 64(1), 505\u2013516 (2016)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1083_CR37","volume-title":"Predictive Control with Constraints","author":"JM Maciejowski","year":"2002","unstructured":"Maciejowski, J.M.: Predictive Control with Constraints. Prentice Hall, London (2002)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01083-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01083-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01083-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,12,28]],"date-time":"2020-12-28T00:03:40Z","timestamp":1609113820000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01083-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,12,29]]},"references-count":37,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["1083"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01083-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,12,29]]},"assertion":[{"value":"18 October 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 August 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 December 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}