{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:20:03Z","timestamp":1760149203904,"version":"build-2065373602"},"reference-count":22,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2023,7,13]],"date-time":"2023-07-13T00:00:00Z","timestamp":1689206400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Science Foundation of China","award":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"],"award-info":[{"award-number":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"]}]},{"name":"Zhejiang Provincial Natural Science Foundation of China","award":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"],"award-info":[{"award-number":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"]}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"],"award-info":[{"award-number":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"name":"China Postdoctoral Science Foundation","award":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"],"award-info":[{"award-number":["62103251","62203213","LQ23F030016","BK20220332","2021M702075"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper investigates a class of nonholonomic chained systems with integral input-to-state stable (iISS) inverse dynamics subject to unknown virtual control directions and parameter uncertainty included in drift terms. First, the system is divided into two interconnected subsystems according to the system\u2019s structure. Second, one controller is designed using a switch strategy for state finite escape. Then, another controller and adaptive law are designed by combining a reduced-order state observer and backstepping method after input-state scaling. Finally, simulation results validate the feasibility of the proposed control algorithm.<\/jats:p>","DOI":"10.3390\/s23146351","type":"journal-article","created":{"date-parts":[[2023,7,13]],"date-time":"2023-07-13T01:58:11Z","timestamp":1689213491000},"page":"6351","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Adaptive Output Feedback Control for Nonholonomic Chained Systems with Integral Input State Stability Inverse Dynamics"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6094-3428","authenticated-orcid":false,"given":"Yang","family":"Li","sequence":"first","affiliation":[{"name":"Shanghai Key Laboratory of Power Station Automation Technology, Shanghai University, Shanghai 200444, China"}]},{"given":"Linxing","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"}]},{"given":"Xiuli","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0016-8578","authenticated-orcid":false,"given":"Cunsong","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Intelligent Manufacturing, Nanjing Tech University, Nanjing 210006, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,7,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"464","DOI":"10.1109\/TAES.2021.3103258","article-title":"Predefined-time predefined-bounded attitude tracking control for rigid spacecraft","volume":"58","author":"Ye","year":"2021","journal-title":"IEEE Trans. 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