{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T16:36:39Z","timestamp":1783096599043,"version":"3.54.6"},"reference-count":40,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2020,11,15]],"date-time":"2020-11-15T00:00:00Z","timestamp":1605398400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC\/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.<\/jats:p>","DOI":"10.3390\/s20226522","type":"journal-article","created":{"date-parts":[[2020,11,16]],"date-time":"2020-11-16T21:48:52Z","timestamp":1605563332000},"page":"6522","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Path-Tracking of a WMR Fed by Inverter-DC\/DC Buck Power Electronic Converter Systems"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7016-2561","authenticated-orcid":false,"given":"Victor Manuel","family":"Hern\u00e1ndez-Guzm\u00e1n","sequence":"first","affiliation":[{"name":"Facultad de Ingenier\u00eda, Universidad Aut\u00f3noma de Quer\u00e9taro, Quer\u00e9taro 76010, 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\u00f3nica &amp; Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2555-6262","authenticated-orcid":false,"given":"Salvador","family":"Tavera-Mosqueda","sequence":"additional","affiliation":[{"name":"Laboratorio de Mecatr\u00f3nica &amp; Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4997-0617","authenticated-orcid":false,"given":"Mariana","family":"Marcelino-Aranda","sequence":"additional","affiliation":[{"name":"Secci\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Unidad Profesional Interdisciplinaria de Ingenier\u00eda y Ciencias Sociales y Administrativas, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 08400, 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\u00f3nica &amp; Energ\u00eda Renovable, Centro de Innovaci\u00f3n y Desarrollo Tecnol\u00f3gico en C\u00f3mputo, Instituto Polit\u00e9cnico Nacional, Ciudad de M\u00e9xico 07700, Mexico"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,11,15]]},"reference":[{"key":"ref_1","unstructured":"Antritter, F., Maurer, P., and Reger, J. 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