{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:36:32Z","timestamp":1740141392159,"version":"3.37.3"},"reference-count":20,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2023,7,1]],"date-time":"2023-07-01T00:00:00Z","timestamp":1688169600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,7,1]],"date-time":"2023-07-01T00:00:00Z","timestamp":1688169600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"the National Key Research and Development Program of China","award":["SQ2019YFB130016"],"award-info":[{"award-number":["SQ2019YFB130016"]}]},{"name":"the Autonomous Research Project of the State Key Laboratory of Industrial Control Technology, China","award":["No. ICT2021A13)"],"award-info":[{"award-number":["No. ICT2021A13)"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,7]]},"DOI":"10.1007\/s10846-023-01871-w","type":"journal-article","created":{"date-parts":[[2023,7,10]],"date-time":"2023-07-10T15:02:35Z","timestamp":1689001355000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["New Riccati Velocity Controller of the Spherical Robot"],"prefix":"10.1007","volume":"108","author":[{"given":"You","family":"Wang","sequence":"first","affiliation":[]},{"given":"Yixu","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Yifan","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Xiaoqing","family":"Guan","sequence":"additional","affiliation":[]},{"given":"Tao","family":"Hu","sequence":"additional","affiliation":[]},{"given":"Ziang","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Jie","family":"Hao","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1253-3985","authenticated-orcid":false,"given":"Guang","family":"Li","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,10]]},"reference":[{"key":"1871_CR1","unstructured":"Halme, A., Schonberg, T., Yan, W.: Motion Control of a Spherical Mobile Robot. In: Advanced Motion Control, 1996. AMC \u201996-MIE. Proceedings., 1996 4th International Workshop on (1996)"},{"key":"1871_CR2","doi-asserted-by":"crossref","unstructured":"Zhang, Z., Wan, Y., Wang, Y., Guan, X., Ren, W., Li, G.: Improved Hybrid a* Path Planning Method for Spherical Mobile Robot Based on Pendulum. Int. J. Adv. Robot. Syst. 18(1), 1729881421992958 (2021)","DOI":"10.1177\/1729881421992958"},{"key":"1871_CR3","doi-asserted-by":"crossref","unstructured":"Bicchi, A., Balluchi, A., Prattichizzo, D., Gorelli, A.: Introducing the \u201cSphericle\u201d: an Experimental Testbed for Research and Teaching in Nonholonomy. In: Proceedings of International Conference on Robotics and Automation, vol. 3, pp. 2620\u20132625. IEEE (1997)","DOI":"10.1109\/ROBOT.1997.619356"},{"key":"1871_CR4","unstructured":"Amir, H., Mojabi, P.: Introducing August: a Novel Strategy For an Omnidirectional Spherical Rolling Robot. In: IEEE International Conference on Robotics & Automation (2004)"},{"key":"1871_CR5","doi-asserted-by":"crossref","unstructured":"Ma, L., Sun, H., Song, J.: Fractional-Order Adaptive Integral Hierarchical Sliding Mode Control Method for High-Speed Linear Motion of Spherical Robot. IEEE Access PP(99), 1\u20131 (2020)","DOI":"10.1109\/ACCESS.2020.2985380"},{"issue":"2","key":"1871_CR6","doi-asserted-by":"publisher","first-page":"2732","DOI":"10.1109\/LRA.2022.3141210","volume":"7","author":"Y Liu","year":"2022","unstructured":"Liu, Y., Wang, Y., Guan, X., Wang, Y., Jin, S., Hu, T., Ren, W., Hao, J., Zhang, J., Li, G.: Multi-Terrain Velocity Control of the Spherical Robot by Online Obtaining the Uncertainties in the Dynamics. IEEE Robot. Autom. Lett. 7(2), 2732\u20132739 (2022). https:\/\/doi.org\/10.1109\/LRA.2022.3141210","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1871_CR7","unstructured":"Michaud, F.C., Caron, S.: Roball an Autonomous Toy-Rolling Robot. In: Proc of the Workshop on Interactive Robotics & Entertainment (2000)"},{"key":"1871_CR8","doi-asserted-by":"crossref","unstructured":"Chen, S.B., Beigi, A., Yousefpour, A., Rajaee, F., Chu, Y.: Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control with Input Saturation for a Non-Holonomic Spherical Robot. IEEE Access 8, 188441\u2013188453 (2020)","DOI":"10.1109\/ACCESS.2020.3030775"},{"key":"1871_CR9","doi-asserted-by":"crossref","unstructured":"Roozegar, M., Mahjoob, M., Jahromi, M.: Optimal Motion Planning And Control of a Nonholonomic Spherical Robot Using Dynamic Programming Approach: Simulation and Experimental Results. Mechatronics 39, 174\u2013184 (2016)","DOI":"10.1016\/j.mechatronics.2016.05.002"},{"key":"1871_CR10","doi-asserted-by":"crossref","unstructured":"Azizi, M.R., Keighobadi, J.: Robust Sliding Mode Trajectory Tracking Controller for a Nonholonomic Spherical Mobile Robot. IFAC Proc. Vol. 47(3), 4541\u20134546 (2014)","DOI":"10.3182\/20140824-6-ZA-1003.01430"},{"key":"1871_CR11","unstructured":"Liu, D., Sun, H., Jia, Q.: A Family of Spherical Mobile Robot: Driving Ahead Motion Control by Feedback Linearization. In: Systems and Control in Aerospace and Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on (2008)"},{"key":"1871_CR12","doi-asserted-by":"crossref","unstructured":"Zihao, S., Bin, W., Ting, Z.: Trajectory Tracking Control of a Spherical Robot Based on Adaptive Pid Algorithm. In: 2019 Chinese Control And Decision Conference (CCDC), pp. 5171\u20135175. IEEE (2019)","DOI":"10.1109\/CCDC.2019.8833053"},{"key":"1871_CR13","doi-asserted-by":"publisher","unstructured":"Wang, Y., Guan, X., Hu, T., Zhang, Z., Wang, Y., Wang, Z., Liu, Y., Li, G.: Fuzzy Pid Controller Based on Yaw Angle Prediction of a Spherical Robot. In: 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3242\u20133247. (2021). https:\/\/doi.org\/10.1109\/IROS51168.2021.9636425","DOI":"10.1109\/IROS51168.2021.9636425"},{"issue":"22","key":"1871_CR14","doi-asserted-by":"publisher","first-page":"863","DOI":"10.3182\/20120905-3-HR-2030.00123","volume":"45","author":"E Kayacan","year":"2012","unstructured":"Kayacan, E., Kayacan, E., Ramon, H., Saeys, W.: Velocity Control of a Spherical Rolling Robot Using a Grey-Pid Type Fuzzy Controller With an Adaptive Step Size. IFAC Proc. 45(22), 863\u2013868 (2012)","journal-title":"IFAC Proc."},{"key":"1871_CR15","doi-asserted-by":"crossref","unstructured":"Ma, Z., Sun, G., Cheng, Z., Li, Z.: Linear Motor Motion Control Using Fractional Order Sliding Mode Controller With Friction Compensation. In 2017 36th Chinese Control Conference (CCC). (2017)","DOI":"10.23919\/ChiCC.2017.8027919"},{"key":"1871_CR16","doi-asserted-by":"publisher","unstructured":"Ma, Z., Zhu, Z.H., Sun, G.: Fractional-Order Sliding Mode Control for Deployment of Tethered Spacecraft System. Proc. Inst. Mech. Eng. G J. Aerosp. Eng. 233(13) (2019). https:\/\/doi.org\/10.1177\/0954410019830030","DOI":"10.1177\/0954410019830030"},{"issue":"5","key":"1871_CR17","doi-asserted-by":"publisher","first-page":"407","DOI":"10.1080\/01969722.2014.919205","volume":"45","author":"M Yue","year":"2014","unstructured":"Yue, M., Liu, B., Wei, X., Hu, P.: Adaptive sliding-mode control of spherical robot with estimated rolling resistance. Cybern. Syst. 45(5), 407\u2013417 (2014)","journal-title":"Cybern. Syst."},{"issue":"1","key":"1871_CR18","doi-asserted-by":"publisher","first-page":"170","DOI":"10.1109\/TSMCB.2012.2202900","volume":"43","author":"E Kayacan","year":"2012","unstructured":"Kayacan, E., Kayacan, E., Ramon, H., Saeys, W.: Adaptive Neuro-Fuzzy Control of a Spherical Rolling Robot Using Sliding-Mode-Control-Theory-Based Online Learning Algorithm. IEEE Trans. Cybern. 43(1), 170\u2013179 (2012)","journal-title":"IEEE Trans. Cybern."},{"key":"1871_CR19","doi-asserted-by":"crossref","unstructured":"Yu, T., Sun, H.X., Jia, Q.X., Zhang, Y.H., Zhao, W.: Sliding Mode Control of Pendulum-Driven Spherical Robots. In: Advanced Materials Research, vol. 591, pp. 1519\u20131522. Trans Tech Publ (2012)","DOI":"10.4028\/www.scientific.net\/AMR.591-593.1519"},{"issue":"4","key":"1871_CR20","doi-asserted-by":"publisher","first-page":"32","DOI":"10.5772\/45711","volume":"8","author":"Y Cai","year":"2011","unstructured":"Cai, Y., Zhan, Q., Xi, X.: Neural Network Control for the Linear Motion of a Spherical Mobile Robot. Int. J. Adv. Robot. Syst. 8(4), 32 (2011)","journal-title":"Int. J. Adv. Robot. Syst."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01871-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01871-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01871-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,23]],"date-time":"2024-10-23T22:32:01Z","timestamp":1729722721000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01871-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7]]},"references-count":20,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,7]]}},"alternative-id":["1871"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01871-w","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2023,7]]},"assertion":[{"value":"15 February 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 March 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 July 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"All individual participants included in the study have consented to publication.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"51"}}