{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,8]],"date-time":"2026-09-08T12:46:08Z","timestamp":1788871568439,"version":"build-2803163510"},"reference-count":20,"publisher":"Wiley","license":[{"start":{"date-parts":[[2011,1,1]],"date-time":"2011-01-01T00:00:00Z","timestamp":1293840000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["60874012"],"award-info":[{"award-number":["60874012"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2011]]},"abstract":"<jats:p>Most of drift-less nonholonomic systems cannot be exactly converted to an nonholonomic chained form, a wealth of design tools developed for the control of nonholonomic chained form are thus not directly applicable to such systems. Nevertheless, there exists a class of systems that may be locally approximated by the nonholonomic chained form around certain equilibrium points. In this work, we propose a discontinuous and a smooth time-varying control laws respectively for the approximated nonholonomic chained form, guaranteeing local exponential convergence of state to the desired equilibrium point. An tractor towing off-axle trailers is taken as an example to illustrate the approaches.<\/jats:p>","DOI":"10.1155\/2011\/697309","type":"journal-article","created":{"date-parts":[[2011,8,23]],"date-time":"2011-08-23T16:38:29Z","timestamp":1314117509000},"page":"1-8","source":"Crossref","is-referenced-by-count":1,"title":["Local Exponential Regulation of Nonholonomic Systems in Approximate Chained Form with Applications to Off-Axle Tractor-Trailers"],"prefix":"10.1155","volume":"2011","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9512-4852","authenticated-orcid":true,"given":"Bao-Li","family":"Ma","sequence":"first","affiliation":[{"name":"The Seventh Research Division, BeiHang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/37.476384"},{"issue":"6","key":"2","doi-asserted-by":"crossref","first-page":"1327","DOI":"10.1080\/00207179508921959","volume":"61","year":"1995","journal-title":"International Journal of Control"},{"issue":"3","key":"3","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1016\/0167-6911(94)00060-9","volume":"25","year":"1995","journal-title":"Systems and Control Letters"},{"key":"4","volume-title":"Asymptotic stability and feedback stabilization","year":"1983"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(95)00041-0"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.817914"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(02)00229-7"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/9.362899"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/9.362901"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/9.827372"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.817909"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(95)00036-4"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(99)00115-6"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(02)00133-0"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.817937"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(03)00076-1"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(02)00327-4"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1080\/00207170110086935"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.825267"},{"key":"20","year":"1996"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2011\/697309.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2011\/697309.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2011\/697309.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,20]],"date-time":"2017-06-20T01:06:04Z","timestamp":1497920764000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/jr\/2011\/697309\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011]]},"references-count":20,"alternative-id":["697309","697309"],"URL":"https:\/\/doi.org\/10.1155\/2011\/697309","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"value":"1687-9600","type":"print"},{"value":"1687-9619","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011]]}}}