{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T14:02:52Z","timestamp":1770732172693,"version":"3.49.0"},"reference-count":31,"publisher":"Elsevier BV","issue":"7","license":[{"start":{"date-parts":[[1997,7,1]],"date-time":"1997-07-01T00:00:00Z","timestamp":867715200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Automatica"],"published-print":{"date-parts":[[1997,7]]},"DOI":"10.1016\/s0005-1098(97)00055-1","type":"journal-article","created":{"date-parts":[[2002,7,25]],"date-time":"2002-07-25T11:21:15Z","timestamp":1027596075000},"page":"1393-1399","source":"Crossref","is-referenced-by-count":522,"title":["Tracking Control of Mobile Robots: A Case Study in Backstepping**This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor Alberto Isidori under the direction of Editor Tamer Ba\u015far."],"prefix":"10.1016","volume":"33","author":[{"given":"ZHONG-PING","family":"JIANGdagger","sequence":"first","affiliation":[]},{"given":"HENK","family":"NIJMEIJER","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"key":"10.1016\/S0005-1098(97)00055-1_BIB1","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1002\/rnc.4590050403","article-title":"Control of wheeled mobile robots not satisfying ideal velocity constraints: a singular perturbation approach","volume":"5","author":"d'Andre\u00e1-Novel","year":"1995","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB2","doi-asserted-by":"crossref","unstructured":"Bloch, A. and Drakunov, S. (1994) Stabilization of a nonholonomic system via sliding modes. In Proc. 33rd IEEE Conf. on Decision and Control, Lake Buena Vista, FL, pp. 2961\u20132963.","DOI":"10.1109\/CDC.1994.411342"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB3","unstructured":"Brockett, R.W. (1983) Asymptotic stability and feedback stabilization. In Differential Geometric Control Theory, ed. R.W. Brockett, R.S. Milman and H.J. Sussman, pp. 181\u2013191. Birkh\u00e4user, Boston."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB4","doi-asserted-by":"crossref","first-page":"437","DOI":"10.1016\/0167-6911(89)90080-7","article-title":"New results and examples in nonlinear feedback stabilization","volume":"12","author":"Byrnes","year":"1989","journal-title":"Syst. Control Lett."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB5","doi-asserted-by":"crossref","unstructured":"Canudas de Wit, C., Berghuis, H. and Nijmeijer, H. (1994) Practical stabilization of nonlinear systems in chained form. In Proc. 33rd IEEE Conf. on Decision and Control, Lake Buena Vista, FL, pp. 3475\u20133480.","DOI":"10.1109\/CDC.1994.411684"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB6","doi-asserted-by":"crossref","unstructured":"Canudas de Wit, C., Siciliano, B. and Bastin, G., eds (1996). Theory of Robot Control. Springer-Verlag, London.","DOI":"10.1007\/978-1-4471-1501-4"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB7","doi-asserted-by":"crossref","unstructured":"Fierro, R. and Lewis, F.L. (1995) Control of a nonholonomic mobile robot: backstepping kinematics into dynamics. In Proc. 34th IEEE Conf. on Decision and Control, New Orleans, LA, pp. 3805\u20133810.","DOI":"10.1109\/CDC.1995.479190"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB8","doi-asserted-by":"crossref","first-page":"1327","DOI":"10.1080\/00207179508921959","article-title":"Flatness and defect of non-linear systems: introductory theory and examples","volume":"61","author":"Fliess","year":"1995","journal-title":"Int. J. Control"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB9","unstructured":"Fliess, M., Levine, J., Martin, P. and Rouchon, P. (1995b) Design of trajectory stabilizing feedback for driftless flat systems. In Proc. 3rd European Control Conf., Rome, pp. 1882\u20131887."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB10","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1016\/0167-6911(96)00029-1","article-title":"Iterative design of time-varying stabilizers for multi-input systems in chained form","volume":"28","author":"Jiang","year":"1996","journal-title":"Syst. Control Lett."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB11","unstructured":"Jiang, Z.P. and Nijmeijer, H. (1996) Tracking control of mobile robots: a case study in backstepping, memorandum 1321, University of Twente."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB12","doi-asserted-by":"crossref","unstructured":"Jiang, Z.P. and Nijmeijer, H. (1997) Backstepping-based tracking control of nonholonomic chained systems. Submitted to European Control Conf. (ECC'97).","DOI":"10.23919\/ECC.1997.7082510"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB13","doi-asserted-by":"crossref","unstructured":"Jiang, Z.P. and Pomet, J.-B. (1994) Combining backstepping and time-varying techniques for a new set of adaptive controllers. In Proc. 33rd IEEE Conf. on Decision and Control, Lake Buena Vista, FL, pp. 2207\u20132212; also Int. J. Adaptive Control Sig. Process. 10, 47\u201359 (1996).","DOI":"10.1109\/CDC.1994.411494"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB14","doi-asserted-by":"crossref","unstructured":"Jiang, Z.P. and Pomet, J.-B. (1995) Backstepping-based adaptive controllers for uncertain nonholonomic systems. In Proc. 34th IEEE Conf. on Decision and Control, New Orleans, LA, pp. 1573\u20131578.","DOI":"10.1109\/CDC.1995.480362"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB15","doi-asserted-by":"crossref","unstructured":"Kanayama, Y., Kimura, Y., Miyazaki, F. and Noguchi, T. (1990) A stable tracking control scheme for an autonomous mobile robot. In Proc. IEEE International Conf. on Robotics and Automation, pp. 384\u2013389.","DOI":"10.1109\/ROBOT.1990.126006"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB16","unstructured":"Khalil, H.K. (1992) Nonlinear Systems. Macmillan, New York."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB17","unstructured":"Koditschek, D.E. (1987) Adaptive techniques for mechanical systems. In Proc. 5th Yale Workshop on Adaptive Systems, New Haven, CT, pp. 259\u2013265."},{"issue":"6","key":"10.1016\/S0005-1098(97)00055-1_BIB18","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/37.476384","article-title":"Developments in nonholonomic control systems","volume":"15","author":"Kolmanovsky","year":"1995","journal-title":"IEEE Control Syst. Magazine"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB19","unstructured":"Krsti\u0107, M., Kanellakopoulos, I. and Kokotovi\u0107, P.V. (1995) Nonlinear and Adaptive Control Design. Wiley, New York."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB20","doi-asserted-by":"crossref","unstructured":"McCloskey, R.T. and Murray, R.M. (1994) Exponential stabilization of driftless nonlinear control systems via time-varying, homogeneous feedback. In Proc. 33rd IEEE Conf. on Decision and Control, Lake Buena Vista, pp. 1317\u20131322.","DOI":"10.1109\/CDC.1994.411139"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB21","unstructured":"Micaelli, A. and Samson, C. (1993) Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. INRIA Technical Report No. 2097."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB22","doi-asserted-by":"crossref","first-page":"700","DOI":"10.1109\/9.277235","article-title":"Nonholonomic motion planning: steering using sinusoids","volume":"AC-38","author":"Murray","year":"1993","journal-title":"IEEE Trans. Autom. Control"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB23","doi-asserted-by":"crossref","unstructured":"Murray, R.M., Walsh, G. and Sastry, S.S. (1992) Stabilization and tracking for nonholonomic control systems using time-varying state feedback. In IFAC Nonlinear Control Systems Design, Bordeaux, ed. M. Fliess, pp. 109\u2013114.","DOI":"10.1016\/S1474-6670(17)52266-1"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB24","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1016\/0967-0661(94)90215-1","article-title":"Robust tracking control of two-degrees-of-freedom mobile robots","volume":"2","author":"Oelen","year":"1994","journal-title":"Control Engng Practice"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB25","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1109\/100.392415","article-title":"Hybrid stabilizing control on a real mobile robot","volume":"2","author":"Oelen","year":"1995","journal-title":"IEEE Robotics Automation Magazine"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB26","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1016\/0167-6911(92)90019-O","article-title":"Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift","volume":"18","author":"Pomet","year":"1992","journal-title":"Syst. Control Lett."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB27","doi-asserted-by":"crossref","unstructured":"Popov, V.M. (1973) Hyperstability of Control Systems. Springer-Verlag, Berlin.","DOI":"10.1007\/978-3-642-65654-5"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB28","doi-asserted-by":"crossref","unstructured":"Samson, C. (1991) Velocity and torque feedback control of a nonholonomic cart. In Proc. Advanced Robot Control, ed. C. Canudas de Wit, pp. 125\u2013151. Lecture Notes in Control and Information Sciences, Vol. 162, Springer-Verlag, Berlin.","DOI":"10.1007\/BFb0039269"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB29","doi-asserted-by":"crossref","unstructured":"Samson, C. and Ait-Abderrahim, K. (1991) Feedback control of a nonholonomic wheeled cart in Cartesian space. In Proc. IEEE International Conf. on Robotics and Automation, Sacramento, CA, pp. 1136\u20131141.","DOI":"10.1109\/ROBOT.1991.131748"},{"key":"10.1016\/S0005-1098(97)00055-1_BIB30","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1007\/BF02551276","article-title":"Sufficient Lyapunov-like conditions for stabilization","volume":"2","author":"Tsinias","year":"1989","journal-title":"Math. Control Sig. Syst."},{"key":"10.1016\/S0005-1098(97)00055-1_BIB31","unstructured":"Vidyasagar, M. (1993) Nonlinear Systems Analysis, 2nd ed. Prentice-Hall, Englewood Cliffs, NJ."}],"container-title":["Automatica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0005109897000551?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0005109897000551?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2020,1,8]],"date-time":"2020-01-08T05:56:40Z","timestamp":1578463000000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0005109897000551"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,7]]},"references-count":31,"journal-issue":{"issue":"7","published-print":{"date-parts":[[1997,7]]}},"alternative-id":["S0005109897000551"],"URL":"https:\/\/doi.org\/10.1016\/s0005-1098(97)00055-1","relation":{},"ISSN":["0005-1098"],"issn-type":[{"value":"0005-1098","type":"print"}],"subject":[],"published":{"date-parts":[[1997,7]]}}}