{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T16:36:42Z","timestamp":1783096602790,"version":"3.54.6"},"reference-count":132,"publisher":"Wiley","license":[{"start":{"date-parts":[[2017,1,1]],"date-time":"2017-01-01T00:00:00Z","timestamp":1483228800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007161","name":"Secretar\u00eda de Investigaci\u00f3n y Posgrado, Instituto Polit\u00e9cnico Nacional","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100007161","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003141","name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003141","id-type":"DOI","asserted-by":"publisher"}]},{"name":"BEIFI"},{"name":"IPN programs EDI and SIBE"},{"name":"SNI-M\u00e9xico"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2017]]},"abstract":"<jats:p>The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the<jats:italic> mechanical structure<\/jats:italic> (differential drive WMR),<jats:italic> actuators<\/jats:italic> (DC motors), and<jats:italic> power stage<\/jats:italic> (DC\/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M1\"><mml:mrow><mml:mi mathvariant=\"normal\">\u03a3<\/mml:mi><\/mml:mrow><\/mml:math>\u2013<mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M2\"><mml:mrow><mml:mi mathvariant=\"normal\">\u0394<\/mml:mi><\/mml:mrow><\/mml:math>-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.<\/jats:p>","DOI":"10.1155\/2017\/5318504","type":"journal-article","created":{"date-parts":[[2017,12,7]],"date-time":"2017-12-07T18:30:57Z","timestamp":1512671457000},"page":"1-18","source":"Crossref","is-referenced-by-count":21,"title":["Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation"],"prefix":"10.1155","volume":"2017","author":[{"given":"Jos\u00e9 Rafael","family":"Garc\u00eda-S\u00e1nchez","sequence":"first","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica, CIDETEC, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, 07700 Ciudad de M\u00e9xico, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7540-489X","authenticated-orcid":true,"given":"Ram\u00f3n","family":"Silva-Ortigoza","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica, CIDETEC, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, 07700 Ciudad de M\u00e9xico, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Salvador","family":"Tavera-Mosqueda","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica, CIDETEC, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, 07700 Ciudad de M\u00e9xico, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Celso","family":"M\u00e1rquez-S\u00e1nchez","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica, CIDETEC, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, 07700 Ciudad de M\u00e9xico, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7016-2561","authenticated-orcid":true,"given":"Victor Manuel","family":"Hern\u00e1ndez-Guzm\u00e1n","sequence":"additional","affiliation":[{"name":"Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, 76150 Quer\u00e9taro, QRO, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6158-9005","authenticated-orcid":true,"given":"Mayra","family":"Antonio-Cruz","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica, CIDETEC, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, 07700 Ciudad de M\u00e9xico, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gilberto","family":"Silva-Ortigoza","sequence":"additional","affiliation":[{"name":"Facultad de Ciencias F\u00edsico Matem\u00e1ticas, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla, 72570 Puebla, PUE, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7644-5706","authenticated-orcid":true,"given":"Hind","family":"Taud","sequence":"additional","affiliation":[{"name":"\u00c1rea de Mecatr\u00f3nica, CIDETEC, Instituto Polit\u00e9cnico Nacional, Unidad Profesional Adolfo L\u00f3pez Mateos, 07700 Ciudad de M\u00e9xico, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","reference":[{"key":"1","year":"2004"},{"key":"2","year":"2009"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2012.6418124"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/M-RA.2007.907356"},{"key":"5","year":"2008"},{"key":"7","year":"2014"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/9.173144"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/37.476384"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2007.910118"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/5.940290"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-0321(01)00015-6"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/MPAE.2003.1180358"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1126\/science.1124005"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/jestpe.2013.2275978"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1002\/cplx.21619"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1016\/j.rser.2014.12.019"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1016\/j.rser.2015.12.057"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1155\/2017\/5402896"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1109\/63.849039"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2004.833453"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2006.878356"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.922768"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2076414"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1109\/jestpe.2013.2271499"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1049\/iet-gtd.2015.0232"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1002\/cplx.21807"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/JETCAS.2017.2676019"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1016\/j.enconman.2011.04.016"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1109\/9.277235"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1109\/9.273373"},{"key":"36","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(97)00055-1"},{"key":"37","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(98)00184-1"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1109\/9.746253"},{"key":"39","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(20000415)10:4<199::AID-RNC468>3.0.CO;2-P"},{"key":"40","doi-asserted-by":"publisher","DOI":"10.1109\/3477.826953"},{"issue":"4","key":"41","doi-asserted-by":"crossref","first-page":"616","DOI":"10.1115\/1.1316795","volume":"122","year":"2000","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"key":"42","doi-asserted-by":"publisher","DOI":"10.1109\/87.911382"},{"key":"43","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2004.824953"},{"key":"44","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.01.002"},{"key":"45","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.01.001"},{"key":"46","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-009-0312-7"},{"key":"47","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2009.11.011"},{"key":"49","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2011.2176738"},{"key":"50","doi-asserted-by":"publisher","DOI":"10.1109\/9.173153"},{"key":"51","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2002.804116"},{"key":"52","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2004.04.002"},{"key":"53","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2006.872512"},{"key":"54","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2002717"},{"key":"55","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2020077"},{"key":"57","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.06.005"},{"key":"59","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2287222"},{"key":"62","doi-asserted-by":"publisher","DOI":"10.1109\/70.768190"},{"key":"63","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(199911)9:13<905::AID-RNC443>3.0.CO;2-1"},{"key":"64","doi-asserted-by":"publisher","DOI":"10.1109\/3477.931519"},{"key":"65","doi-asserted-by":"publisher","DOI":"10.1016\/S0045-7906(00)00053-7"},{"key":"66","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.837236"},{"key":"67","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2008.09.004"},{"key":"69","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2011.04.546"},{"key":"70","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9762-x"},{"key":"71","doi-asserted-by":"publisher","DOI":"10.1109\/70.880812"},{"key":"72","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2002.1018768"},{"key":"73","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2003.819587"},{"key":"74","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2003.821894"},{"key":"75","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2007.05.007"},{"key":"76","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2008.03.004"},{"key":"77","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.922584"},{"key":"78","doi-asserted-by":"publisher","DOI":"10.1109\/tsmca.2010.2052605"},{"key":"79","doi-asserted-by":"publisher","DOI":"10.5772\/55738"},{"key":"80","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.12.036"},{"key":"81","doi-asserted-by":"publisher","DOI":"10.1155\/2017\/9296012"},{"key":"82","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140707"},{"key":"83","doi-asserted-by":"publisher","DOI":"10.1109\/70.68075"},{"key":"84","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2553050"},{"key":"85","doi-asserted-by":"publisher","DOI":"10.1023\/A:1011223125068"},{"key":"86","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2008.4917431"},{"issue":"8","key":"87","first-page":"3437","volume":"6","year":"2010","journal-title":"International Journal of Innovative Computing, Information and Control"},{"key":"88","doi-asserted-by":"publisher","DOI":"10.1155\/2013\/723645"},{"key":"89","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.1985.1104955"},{"key":"90","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20041303"},{"key":"91","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2006.872536"},{"key":"92","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2012516"},{"key":"93","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/634936"},{"key":"95","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2005.09.013"},{"key":"98","doi-asserted-by":"publisher","DOI":"10.1163\/016918610X501480"},{"key":"99","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2034639"},{"key":"100","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2010.12.001"},{"key":"101","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2011.0169"},{"key":"102","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2012.0750"},{"key":"103","doi-asserted-by":"publisher","DOI":"10.1002\/acs.2382"},{"key":"104","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2016.7437207"},{"key":"105","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2016.7459584"},{"key":"106","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cds:20010712"},{"key":"111","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2011.11.035"},{"key":"112","doi-asserted-by":"publisher","DOI":"10.5772\/51186"},{"key":"113","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2013.2273460"},{"key":"114","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2015.2397341"},{"key":"115","doi-asserted-by":"publisher","DOI":"10.1109\/87.572125"},{"key":"116","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/912815"},{"key":"117","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2014.2311821"},{"key":"118","doi-asserted-by":"publisher","DOI":"10.1007\/1-84628-459-7"},{"key":"119","year":"2004"},{"key":"120","doi-asserted-by":"publisher","DOI":"10.1177\/0020720915571483"},{"key":"121","volume-title":"Regulation of nonminimum phase outputs: a flatness based approach","year":"1998"},{"key":"122","doi-asserted-by":"publisher","DOI":"10.2514\/2.4732"},{"key":"123","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.2001741"},{"key":"124","doi-asserted-by":"publisher","DOI":"10.1109\/TCSII.2010.2082830"},{"key":"125","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2011.2170098"},{"key":"126","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2016.7795818"},{"key":"127","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2017.7932691"},{"key":"128","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2016.7786298"},{"issue":"11","key":"129","doi-asserted-by":"crossref","first-page":"2043","DOI":"10.1109\/TLA.2017.8070406","volume":"15","year":"2017","journal-title":"IEEE Latin America Transactions"},{"key":"130","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2015.2454484"},{"key":"131","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2457877"},{"key":"132","doi-asserted-by":"publisher","DOI":"10.5772\/62344"},{"key":"133","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2015.09.047"},{"key":"134","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.02.101"},{"key":"135","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2015.2476519"},{"key":"136","doi-asserted-by":"publisher","DOI":"10.1007\/s40815-016-0166-0"},{"key":"137","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2015.2504547"},{"key":"138","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-016-2910-2"},{"key":"139","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2016.02.002"},{"key":"140","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2606358"},{"key":"141","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2558479"},{"key":"142","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2016.04.015"},{"key":"143","doi-asserted-by":"publisher","DOI":"10.1109\/tie.2016.2613839"},{"key":"144","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2631514"},{"key":"145","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2584180"},{"key":"146","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917707583"},{"key":"147","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2638398"},{"key":"148","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2675280"},{"key":"149","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2016.11.001"},{"key":"150","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-017-3545-7"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2017\/5318504.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2017\/5318504.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2017\/5318504.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,12,7]],"date-time":"2017-12-07T18:31:07Z","timestamp":1512671467000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/complexity\/2017\/5318504\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017]]},"references-count":132,"alternative-id":["5318504","5318504"],"URL":"https:\/\/doi.org\/10.1155\/2017\/5318504","relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"value":"1076-2787","type":"print"},{"value":"1099-0526","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017]]}}}