{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,6]],"date-time":"2026-08-06T15:51:34Z","timestamp":1786031494851,"version":"3.56.0"},"reference-count":96,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100003069","name":"Instituto Polit\u00e9cnico Nacional (IPN), Mexico","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003069","id-type":"DOI","asserted-by":"publisher"}]},{"name":"CONAHCYT, M\u00e9xico and BEIFI scholarships"},{"name":"SNII-CONAHCYT, M\u00e9xico"},{"name":"IPN Programs EDI and SIBE"},{"name":"SNII-CONAHCYT, M\u00e9xico"},{"name":"IPN Programs EDI and SIBE"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/access.2024.3515852","type":"journal-article","created":{"date-parts":[[2024,12,11]],"date-time":"2024-12-11T22:40:43Z","timestamp":1733956843000},"page":"192958-192978","source":"Crossref","is-referenced-by-count":14,"title":["Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages"],"prefix":"10.1109","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3759-3829","authenticated-orcid":false,"given":"Erik","family":"Reyes-Reyes","sequence":"first","affiliation":[{"name":"Laboratorio de Mecatr&#x00F3;nica y Energ&#x00ED;a Renovable, CIDETEC, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-4352-8388","authenticated-orcid":false,"given":"Benjamin Natanael","family":"Santiago-Nogales","sequence":"additional","affiliation":[{"name":"Laboratorio de Mecatr&#x00F3;nica y Energ&#x00ED;a Renovable, CIDETEC, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7540-489X","authenticated-orcid":false,"given":"Ram\u00f3n","family":"Silva-Ortigoza","sequence":"additional","affiliation":[{"name":"Laboratorio de Mecatr&#x00F3;nica y Energ&#x00ED;a Renovable, CIDETEC, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1435-6908","authenticated-orcid":false,"given":"Magdalena","family":"Marciano-Melchor","sequence":"additional","affiliation":[{"name":"Laboratorio de Mecatr&#x00F3;nica y Energ&#x00ED;a Renovable, CIDETEC, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7036-0990","authenticated-orcid":false,"given":"Jos\u00e9 Rafael","family":"Garc\u00eda-S\u00e1nchez","sequence":"additional","affiliation":[{"name":"Divisi&#x00F3;n de Ingenier&#x00ED;a Mecatr&#x00F3;nica, Tecnol&#x00F3;gico de Estudios Superiores de Huixquilucan, Tecnol&#x00F3;gico Nacional de M&#x00E9;xico, Estado de M&#x00E9;xico, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6382-2261","authenticated-orcid":false,"given":"\u00c1ngel Adri\u00e1n","family":"Orta-Quintana","sequence":"additional","affiliation":[{"name":"Laboratorio de Mecatr&#x00F3;nica y Energ&#x00ED;a Renovable, CIDETEC, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3970-1969","authenticated-orcid":false,"given":"Gilberto","family":"Silva-Ortigoza","sequence":"additional","affiliation":[{"name":"Facultad de Ciencias F&#x00ED;sico Matem&#x00E1;ticas, Benem&#x00E9;rita Universidad Aut&#x00F3;noma de Puebla, Puebla, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7644-5706","authenticated-orcid":false,"given":"Hind","family":"Taud","sequence":"additional","affiliation":[{"name":"Laboratorio de Mecatr&#x00F3;nica y Energ&#x00ED;a Renovable, CIDETEC, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5622-8747","authenticated-orcid":false,"given":"Miguel","family":"Hern\u00e1ndez-Bola\u00f1os","sequence":"additional","affiliation":[{"name":"Laboratorio de Mecatr&#x00F3;nica y Energ&#x00ED;a Renovable, CIDETEC, Instituto Polit&#x00E9;cnico Nacional, Mexico City, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1016\/j.esr.2019.01.006","article-title":"The role of renewable energy in the global energy transformation","volume":"24","author":"Gielen","year":"2019","journal-title":"Energy Strategy Rev."},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.renene.2016.03.078"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ojies.2022.3144093"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.rser.2024.114409"},{"issue":"5","key":"ref5","doi-asserted-by":"crossref","first-page":"1184","DOI":"10.1109\/TPEL.2004.833453","article-title":"Power electronics as efficient interface in dispersed power generation systems","volume":"19","author":"Blaabjerg","year":"2004","journal-title":"IEEE Trans. Power Electron."},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.rser.2015.12.057"},{"issue":"4","key":"ref7","doi-asserted-by":"crossref","first-page":"3747","DOI":"10.1016\/j.asej.2021.03.022","article-title":"Review on non-isolated DC\u2013DC converters and their control techniques for renewable energy applications","volume":"12","author":"Mumtaz","year":"2021","journal-title":"Ain Shams Eng. J."},{"key":"ref8","doi-asserted-by":"crossref","first-page":"27399","DOI":"10.1109\/ACCESS.2024.3365136","article-title":"Sliding mode and PI-based control for the SISO \u2018full-bridge Buck inverter\u2013DC motor\u2019 system powered by renewable energy","volume":"12","author":"Garc\u00eda-Ch\u00e1vez","year":"2024","journal-title":"IEEE Access"},{"issue":"13","key":"ref9","doi-asserted-by":"crossref","first-page":"9858","DOI":"10.3390\/su15139858","article-title":"Sensorless tracking control based on sliding mode for the \u2018full-bridge Buck inverter\u2013DC motor\u2019 system fed by PV panel","volume":"15","author":"Orta-Quintana","year":"2023","journal-title":"Sustainability"},{"key":"ref10","doi-asserted-by":"crossref","first-page":"32464","DOI":"10.1109\/ACCESS.2023.3260188","article-title":"Hierarchical flatness-based control for velocity trajectory tracking of the \u2018DC\/DC Boost converter\u2013DC motor\u2019 system powered by renewable energy","volume":"11","author":"Silva-Ortigoza","year":"2023","journal-title":"IEEE Access"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-05582-4_84"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21727"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/1376\/1\/012022"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-33932-5_17"},{"issue":"1","key":"ref15","doi-asserted-by":"crossref","first-page":"13","DOI":"10.3390\/robotics12010013","article-title":"Optimal design of energy sources for a photovoltaic\/fuel cell extended-range agricultural mobile robot","volume":"12","author":"Ghobadpour","year":"2023","journal-title":"Robotics"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/00368504211037771"},{"issue":"8","key":"ref17","doi-asserted-by":"crossref","first-page":"660","DOI":"10.3390\/machines10080660","article-title":"Navigation of a differential wheeled robot based on a type-2 fuzzy inference tree","volume":"10","author":"M\u00fajica-Vargas","year":"2022","journal-title":"Machines"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s12652-020-02737-x"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.5772\/54427"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2022.108376"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-018-0140-8"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2020.105499"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759428"},{"issue":"1","key":"ref24","doi-asserted-by":"crossref","first-page":"1","DOI":"10.18196\/jrc.v3i1.11024","article-title":"Mobile robot path planning in a trajectory with multiple obstacles using genetic algorithms","volume":"3","author":"Rahmaniar","year":"2021","journal-title":"J. Robot. Control"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2015.10.011"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TCDS.2022.3145915"},{"issue":"1","key":"ref27","doi-asserted-by":"crossref","first-page":"221","DOI":"10.3390\/s23010221","article-title":"Navigation of multiple disk-shaped robots with independent goals within obstacle-cluttered environments","volume":"23","author":"Vlantis","year":"2022","journal-title":"Sensors"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908099462"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2949540"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/70.880813"},{"issue":"6","key":"ref32","doi-asserted-by":"crossref","first-page":"97","DOI":"10.3390\/wevj13060097","article-title":"Research on active obstacle avoidance of intelligent vehicles based on improved artificial potential field method","volume":"13","author":"Tian","year":"2022","journal-title":"World Electr. Veh. J."},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3189741"},{"key":"ref34","doi-asserted-by":"crossref","DOI":"10.1155\/2017\/5318504","article-title":"Tracking control for mobile robots considering the dynamics of all their subsystems: Experimental implementation","volume":"2017","author":"Garc\u00eda-S\u00e1nchez","year":"2017","journal-title":"Complexity"},{"issue":"17","key":"ref35","doi-asserted-by":"crossref","first-page":"4959","DOI":"10.3390\/s20174959","article-title":"A novel dynamic three-level tracking controller for mobile robots considering actuators and power stage subsystems: Experimental assessment","volume":"20","author":"Garc\u00eda-S\u00e1nchez","year":"2020","journal-title":"Sensors"},{"issue":"22","key":"ref36","doi-asserted-by":"crossref","first-page":"6522","DOI":"10.3390\/s20226522","article-title":"Path-tracking of a WMR fed by inverter-DC\/DC Buck power electronic converter systems","volume":"20","author":"Hern\u00e1ndez-Guzm\u00e1n","year":"2020","journal-title":"Sensors"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2016.07.008"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389772"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2082-5"},{"issue":"3","key":"ref40","first-page":"537","article-title":"Trajectory tracking control with obstacle avoidance capability for unicycle-like mobile robot","volume":"60","author":"Kowalczyk","year":"2012","journal-title":"Bull. Polish Acad. Sci., Tech. Sci."},{"key":"ref41","article-title":"Control algorithms for formation of mobile robots","author":"Kowalczyk","year":"2008"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.3390\/act13010037"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2023.107107"},{"key":"ref44","first-page":"1","article-title":"Artificial potential fields for trailer-like systems","volume-title":"Proc. 10th Latin Amer. Congr. Autom. Control (LACC)","author":"Vidal-Calleja"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3037855"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/70.163777"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2020.08.025"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2010.0678"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ICUS48101.2019.8996048"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1177\/0959651814548300"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/tvt.2021.3058274"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2022.3150365"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2018.2841967"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1177\/00202940211043070"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/tvt.2021.3130932"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9685-6"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2363132"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2210656"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-022-07778-9"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9225-4"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.15837\/ijccc.2017.6.2774"},{"key":"ref62","doi-asserted-by":"crossref","DOI":"10.1155\/2018\/5278565","article-title":"Leader-follower based locally rigid formation control","volume":"2018","author":"Raghuwaiya","year":"2018","journal-title":"J. Adv. Transp."},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2024.3385716"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2015.11.017"},{"issue":"6","key":"ref65","doi-asserted-by":"crossref","first-page":"2876","DOI":"10.3390\/app12062876","article-title":"Cooperative target enclosing and tracking control with obstacles avoidance for multiple nonholonomic mobile robots","volume":"12","author":"Li","year":"2022","journal-title":"Appl. Sci."},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2833857"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/TCDS.2018.2869903"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2959442"},{"key":"ref69","first-page":"79","article-title":"Obstacle avoidance task for a wheeled mobile robot\u2014A MATLAB-Simulink-based didactic application","volume-title":"MATLAB: Applications for the Practical Engineer","author":"Silva-Ortigoza","year":"2014"},{"key":"ref70","article-title":"Hierarchical controller for obstacle avoidance task in WMRs considering actuators and power electronics subsystems: When artificial potential fields approach is used","volume":"7","author":"Silva-Ortigoza","year":"2024","journal-title":"e-Prime-Adv. Electr. Eng., Electron. Energy"},{"issue":"19","key":"ref71","doi-asserted-by":"crossref","first-page":"12131","DOI":"10.3390\/su141912131","article-title":"Research on automatic driving trajectory planning and tracking control based on improvement of the artificial potential field method","volume":"14","author":"Li","year":"2022","journal-title":"Sustainability"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2016.2555853"},{"key":"ref73","doi-asserted-by":"crossref","DOI":"10.1155\/2017\/4961383","article-title":"Motion planning for omnidirectional wheeled mobile robot by potential field method","volume":"2017","author":"Li","year":"2017","journal-title":"J. Adv. Transp."},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.02.007"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20070424"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.3103\/S8756699021040063"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1023\/A:1020564024509"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2457877"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2011.2157682"},{"issue":"3","key":"ref80","first-page":"191","article-title":"Autonomous leader-follower formation control of non-holonomic wheeled mobile robots by incremental path planning and sliding mode augmented tracking control","volume":"10","author":"Kowdiki","year":"2019","journal-title":"Int. J. Syst., Control Commun."},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722000121"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1177\/10775463241247960"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.3233\/IFS-162205"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2020.01.014"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2024.3366213"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1080\/00207179608921850"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1108\/01439911011044840"},{"key":"ref88","first-page":"71","volume-title":"Nonlinear Control of Wheeled Mobile Robots","author":"Dixon","year":"2001"},{"issue":"2","key":"ref89","doi-asserted-by":"crossref","first-page":"1076","DOI":"10.1109\/TPEL.2014.2311821","article-title":"DC\/DC Buck power converter as a smooth starter for a DC motor based on a hierarchical control","volume":"30","author":"Silva-Ortigoza","year":"2015","journal-title":"IEEE Trans. Power Electron."},{"key":"ref90","doi-asserted-by":"crossref","first-page":"63437","DOI":"10.1109\/ACCESS.2019.2916472","article-title":"Trajectory tracking control for a Boost converter based on the differential flatness property","volume":"7","author":"Gil-Antonio","year":"2019","journal-title":"IEEE Access"},{"key":"ref91","doi-asserted-by":"crossref","first-page":"49833","DOI":"10.1109\/ACCESS.2023.3277750","article-title":"A sensorless inverse optimal control plus integral action to regulate the output voltage in a Boost converter supplying an unknown DC load","volume":"11","author":"Montoya","year":"2023","journal-title":"IEEE Access"},{"key":"ref92","doi-asserted-by":"crossref","first-page":"132271","DOI":"10.1109\/ACCESS.2022.3228916","article-title":"Adaptation of a real-time deep learning approach with an analog fault detection technique for reliability forecasting of capacitor banks used in mobile vehicles","volume":"10","author":"Rezaei","year":"2022","journal-title":"IEEE Access"},{"issue":"14","key":"ref93","doi-asserted-by":"crossref","first-page":"3578","DOI":"10.3390\/en17143578","article-title":"A deep reinforcement learning approach to D{C}-DC power electronic converter control with practical considerations","volume":"17","author":"Mazaheri","year":"2024","journal-title":"Energies"},{"key":"ref94","doi-asserted-by":"crossref","first-page":"17419","DOI":"10.1109\/ACCESS.2024.3358412","article-title":"Deep reinforcement learning based control strategy for voltage regulation of DC\u2013DC Buck converter feeding CPLs in DC microgrid","volume":"12","author":"Rajamallaiah","year":"2024","journal-title":"IEEE Access"},{"key":"ref95","doi-asserted-by":"crossref","first-page":"154503","DOI":"10.1109\/ACCESS.2024.3482982","article-title":"Adaptive speed control for a DC motor using DC\/DC converters: An inverse optimal control approach","volume":"12","author":"Montoya-Acevedo","year":"2024","journal-title":"IEEE Access"},{"key":"ref96","article-title":"Nonlinear adaptive neural control of power converter-driven DC motor system: Design and experimental validation","volume-title":"Eng. Rep.","volume":"2024","author":"Nizami","year":"2024"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6287639\/10380310\/10793056.pdf?arnumber=10793056","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,25]],"date-time":"2024-12-25T06:18:52Z","timestamp":1735107532000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10793056\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":96,"URL":"https:\/\/doi.org\/10.1109\/access.2024.3515852","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}