{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,6]],"date-time":"2026-04-06T11:08:28Z","timestamp":1775473708246,"version":"3.50.1"},"reference-count":47,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2012,7,5]],"date-time":"2012-07-05T00:00:00Z","timestamp":1341446400000},"content-version":"vor","delay-in-days":186,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"funder":[{"name":"National High Technology Research and Development Program of China","award":["2009AA012201"],"award-info":[{"award-number":["2009AA012201"]}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Applied Mathematics"],"published-print":{"date-parts":[[2012,1]]},"abstract":"<jats:p>Robust force\/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are based on structural knowledge of the dynamics of the robot, and the actuator dynamics is also taken into account. The proposed control is robust not only to structured uncertainty such as mass variation but also to unstructured one such as disturbances. The system stability and the boundness of tracking errors are proved using Lyapunov stability theory. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Simulation results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force.<\/jats:p>","DOI":"10.1155\/2012\/920260","type":"journal-article","created":{"date-parts":[[2012,7,6]],"date-time":"2012-07-06T01:24:38Z","timestamp":1341537878000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["On Robust Hybrid Force\/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators"],"prefix":"10.1155","volume":"2012","author":[{"given":"Yongxin","family":"Zhu","sequence":"first","affiliation":[]},{"given":"Liping","family":"Fan","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2012,7,5]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2008.2002853"},{"key":"e_1_2_9_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2006.888661"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1163\/156855307781503754"},{"key":"e_1_2_9_4_2","first-page":"260","article-title":"Development of hybrid joints for the compliant arm of human-symbiotic mobile manipulator","volume":"20","author":"Li Z.","year":"2005","journal-title":"International Journal of Robotics and Automation"},{"key":"e_1_2_9_5_2","first-page":"70","article-title":"Construction and stabilization of programmed movements of a mobile robot-manipulator","volume":"14","author":"Pavlov V. A.","year":"1976","journal-title":"Engineering Cybernetics"},{"key":"e_1_2_9_6_2","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1017\/S0263574798000873","article-title":"Modeling and control of a mobile manipulator","volume":"16","author":"Chung J. H.","year":"1998","journal-title":"Robotica"},{"key":"e_1_2_9_7_2","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008145910986"},{"key":"e_1_2_9_8_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-012-0222-y"},{"key":"e_1_2_9_9_2","first-page":"61","article-title":"Control design for tele-operation system with time-varying and stochastic communication delays","volume":"8","author":"Kang Y.","year":"2012","journal-title":"International Journal of Innovative Computing, Information and Control"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2009.0638"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2011.2143417"},{"key":"e_1_2_9_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2007.08.007"},{"key":"e_1_2_9_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2008.01.001"},{"key":"e_1_2_9_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.538986"},{"key":"e_1_2_9_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2007.06.001"},{"key":"e_1_2_9_16_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-005-0021-y"},{"key":"e_1_2_9_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.293207"},{"key":"e_1_2_9_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(98)00067-0"},{"key":"e_1_2_9_19_2","doi-asserted-by":"publisher","DOI":"10.1177\/02783649030227007"},{"key":"e_1_2_9_20_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022005004"},{"key":"e_1_2_9_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/72.950141"},{"key":"e_1_2_9_22_2","doi-asserted-by":"publisher","DOI":"10.2316\/Journal.206.2007.3.206-2949"},{"key":"e_1_2_9_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(02)00060-2"},{"key":"e_1_2_9_24_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.07.012"},{"key":"e_1_2_9_25_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140707"},{"key":"e_1_2_9_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.917228"},{"key":"e_1_2_9_27_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.08.012"},{"key":"e_1_2_9_28_2","unstructured":"YangJ. H. Adaptive robust tracking control for compliant-join mechanical arms with motor dynamics Proceedings of the 38th IEEE Conference on Decision & Control December 1999 3394\u20133399 2-s2.0-0033311596."},{"key":"e_1_2_9_29_2","doi-asserted-by":"crossref","unstructured":"ColbaughR.andGlassK. Adaptive regulation of rigid-link electrically-driven manipulators Proceedings of the IEEE International Conference on Robotics & Automation. Part 1 May 1995 293\u2013299 2-s2.0-0029179960.","DOI":"10.1109\/ROBOT.1995.525300"},{"key":"e_1_2_9_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.388786"},{"key":"e_1_2_9_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2004.823887"},{"key":"e_1_2_9_32_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.1010"},{"key":"e_1_2_9_33_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(03)00119-5"},{"key":"e_1_2_9_34_2","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(199911)9:13&lt;905::AID-RNC443&gt;3.0.CO;2-1"},{"key":"e_1_2_9_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2033573"},{"key":"e_1_2_9_36_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.fss.2008.09.013"},{"key":"e_1_2_9_37_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.924579"},{"key":"e_1_2_9_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2011.2109062"},{"key":"e_1_2_9_39_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2010.0176"},{"key":"e_1_2_9_40_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.02.019"},{"key":"e_1_2_9_41_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2010.05.015"},{"key":"e_1_2_9_42_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2010.04.009"},{"key":"e_1_2_9_43_2","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2009.0200"},{"key":"e_1_2_9_44_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.280771"},{"key":"e_1_2_9_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.1220"},{"key":"e_1_2_9_46_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2011.2145378"},{"key":"e_1_2_9_47_2","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20041303"}],"container-title":["Journal of Applied Mathematics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jam\/2012\/920260.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jam\/2012\/920260.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2012\/920260","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,3]],"date-time":"2025-04-03T08:57:37Z","timestamp":1743670657000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2012\/920260"}},"subtitle":[],"editor":[{"given":"Weihai","family":"Zhang","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2012,1]]},"references-count":47,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2012,1]]}},"alternative-id":["10.1155\/2012\/920260"],"URL":"https:\/\/doi.org\/10.1155\/2012\/920260","archive":["Portico"],"relation":{},"ISSN":["1110-757X","1687-0042"],"issn-type":[{"value":"1110-757X","type":"print"},{"value":"1687-0042","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,1]]},"assertion":[{"value":"2012-03-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2012-05-25","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2012-07-05","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"920260"}}