{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,18]],"date-time":"2025-10-18T23:07:14Z","timestamp":1760828834485},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,7,1]],"date-time":"2009-07-01T00:00:00Z","timestamp":1246406400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, nonlinear dynamic equations of a wheeled mobile robot are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). This representation, known as quasi-linear parameter varying, is useful for control designs based on nonlinear<jats:private-char><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574708004931_char2\" \/><\/jats:private-char><jats:sub>\u221e<\/jats:sub>approaches. Two nonlinear<jats:private-char><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574708004931_char2\" \/><\/jats:private-char><jats:sub>\u221e<\/jats:sub>controllers that guarantee induced<jats:private-char><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574708004931_char3\" \/><\/jats:private-char><jats:sub>2<\/jats:sub>-norm, between input (disturbances) and output signals, bounded by an attenuation level \u03b3, are used to control a wheeled mobile robot. These controllers are solved via linear matrix inequalities and algebraic Riccati equation. Experimental results are presented, with a comparative study among these robust control strategies and the standard computed torque, plus proportional-derivative, controller.<\/jats:p>","DOI":"10.1017\/s0263574708004931","type":"journal-article","created":{"date-parts":[[2008,8,13]],"date-time":"2008-08-13T09:14:35Z","timestamp":1218618875000},"page":"547-553","source":"Crossref","is-referenced-by-count":10,"title":["Experimental results on the nonlinear<sub>\u221e<\/sub>control via quasi-LPV representation and game theory for wheeled mobile robots"],"prefix":"10.1017","volume":"27","author":[{"given":"Roberto S.","family":"Inoue","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Adriano A. G.","family":"Siqueira","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco H.","family":"Terra","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,7,1]]},"reference":[{"key":"S0263574708004931_ref8","doi-asserted-by":"crossref","unstructured":"8. Kanayama Y. , Kimura Y. , Miyazaki F. and Noguchi T. , \u201cA Stable Tracking Control Method for an Autonomous Mobile Robot,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, Ohio (May 1990) pp. 384\u2013389.","DOI":"10.1109\/ROBOT.1990.126006"},{"key":"S0263574708004931_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005149"},{"key":"S0263574708004931_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/3477.931519"},{"key":"S0263574708004931_ref9","unstructured":"9. Hwang C. K. , Chen B. S. , and Chang Y. 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Basar T. and Bernhard P. , \u221e-Optimal Control and Related Minimax Problems, (Birkhauser, Berlin, 1990).","DOI":"10.1007\/978-1-4899-3561-8"},{"key":"S0263574708004931_ref1","first-page":"181","volume-title":"Differential Geometric Control Theory","author":"Brockett","year":"1983"},{"key":"S0263574708004931_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706003213"},{"key":"S0263574708004931_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706003079"},{"key":"S0263574708004931_ref12","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(199611)6:9\/10<983::AID-RNC263>3.0.CO;2-C"},{"key":"S0263574708004931_ref15","unstructured":"15. Huang Y. and Jadbabaie A. , \u201cNonlinear \u221e control: An enhanced Quasi-LPV approach,\u201d in Workshop in \u221e nonlinear control by J. C. Doyle, Proceedings of the IEEE International Conference on Decision and Control, Tampa, FL (1998)."},{"key":"S0263574708004931_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/9.173144"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004931","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,13]],"date-time":"2019-05-13T08:46:57Z","timestamp":1557737217000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004931\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,7]]},"references-count":20,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2009,7]]}},"alternative-id":["S0263574708004931"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004931","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,7]]}}}