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Analysis of institutional authors

Somolinos, J. A.Author

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June 9, 2019
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Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers

Publicated to: MULTIBODY SYSTEM DYNAMICS. 32 (4): 511-533 - 2014-12-01 32(4), DOI: 10.1007/s11044-013-9401-8

Authors:

Morales, R; Sira-Ramírez, H; Somolinos, JA
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Affiliations

Cinvestav IPN, Mexico City 07300, DF, Mexico - Author
Univ Castilla La Mancha, Dept Elect Elect & Automat Engn, Albacete 02071, Spain - Author
Univ Politecn Madrid, Dept Ocean Syst, E-28040 Madrid, Spain - Author
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Abstract

This article describes the design of a linear observer-linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in the case of nonlinear, multivariable, nonholonomic underactuated mobile manipulators. The proposed linear feedback scheme is based on the use of a classical linear feedback controller and suitably extended, high-gain, linear Generalized Proportional Integral (GPI) observers, thus aiding the linear feedback controllers to provide an accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and perturbation inputs. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities, and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Simulations reveal the effectiveness of the proposed approach.
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Keywords

Disturbance cancelationFeedback controlGpi controlModelMotion controlRobotsRobust outputStabilizationSystemsWheeled mobile manipulators

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal MULTIBODY SYSTEM DYNAMICS due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2014, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Aerospace Engineering. Notably, the journal is positioned above the 90th percentile.

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2026-04-27:

  • WoS: 15
  • Scopus: 16
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-27:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 19 (PlumX).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/29501/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 1,320
  • Downloads: 636
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Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Mexico.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: Last Author (SOMOLINOS SANCHEZ, JOSE ANDRES).

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Awards linked to the item

This work has been partially supported by Spanish Research Grant DPI2011-24113.
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