{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:NLWGGVKAPZZEUNVI6B4EKIZEID","short_pith_number":"pith:NLWGGVKA","canonical_record":{"source":{"id":"2309.12660","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T07:00:50Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"2cff00f98fd315447ea3b49fbbf55d595bde704f646a023ab3621249466de48c","abstract_canon_sha256":"da575fac2d9bf6e44f138e5733dca8322b7bb2c4735d7d486f2ee9012520cac3"},"schema_version":"1.0"},"canonical_sha256":"6aec6355407e724a36a8f07845232440f94e79bf1f3105b10e47b6e1bce4091d","source":{"kind":"arxiv","id":"2309.12660","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.12660","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"arxiv_version","alias_value":"2309.12660v1","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.12660","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"pith_short_12","alias_value":"NLWGGVKAPZZE","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"pith_short_16","alias_value":"NLWGGVKAPZZEUNVI","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"pith_short_8","alias_value":"NLWGGVKA","created_at":"2026-07-05T06:53:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:NLWGGVKAPZZEUNVI6B4EKIZEID","target":"record","payload":{"canonical_record":{"source":{"id":"2309.12660","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T07:00:50Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"2cff00f98fd315447ea3b49fbbf55d595bde704f646a023ab3621249466de48c","abstract_canon_sha256":"da575fac2d9bf6e44f138e5733dca8322b7bb2c4735d7d486f2ee9012520cac3"},"schema_version":"1.0"},"canonical_sha256":"6aec6355407e724a36a8f07845232440f94e79bf1f3105b10e47b6e1bce4091d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:53:15.873886Z","signature_b64":"27qY9VhYxy6zncoAHMhajv4GPOzyOVDjEbxz8/N6d8djH8f2WOof8F9XsDv/vtVDvNLGqqbjK/ck+0pgg9qWBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6aec6355407e724a36a8f07845232440f94e79bf1f3105b10e47b6e1bce4091d","last_reissued_at":"2026-07-05T06:53:15.873447Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:53:15.873447Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.12660","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:53:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6SobA7BG9isG3IYKroOcbrkR1nu8W4XgVy50m7VfOxYJTg0RyUzYjjhjHboTmhzDNEF6mrWrQtZO3O8dY2NTDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:48:00.249201Z"},"content_sha256":"4ad06e489344a469dc9e5958d7a9edebbe17313252340a302f6b71893c3a2f11","schema_version":"1.0","event_id":"sha256:4ad06e489344a469dc9e5958d7a9edebbe17313252340a302f6b71893c3a2f11"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:NLWGGVKAPZZEUNVI6B4EKIZEID","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Disturbance Rejection Control for Autonomous Trolley Collection Robots with Prescribed Performance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Bingyi Xia, Jiankun Wang, Liang Lu, Max Q.-H. Meng, Rui-Dong Xi, Xiao Xiao, Xue Zhang","submitted_at":"2023-09-22T07:00:50Z","abstract_excerpt":"Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.12660","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2309.12660/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:53:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dqCHMPYYV8hAVtCzwOiOISkH1hUj1wZFpSyjQxBKJdLfrma8hAiXe6hnP95FfmdJUScY3UExQURE+DQvj3+gCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T18:48:00.249589Z"},"content_sha256":"07b977197fc9fe262e06bb48dea9f5ee8d4a95ed646cba1d6989924ad491005a","schema_version":"1.0","event_id":"sha256:07b977197fc9fe262e06bb48dea9f5ee8d4a95ed646cba1d6989924ad491005a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NLWGGVKAPZZEUNVI6B4EKIZEID/bundle.json","state_url":"https://pith.science/pith/NLWGGVKAPZZEUNVI6B4EKIZEID/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NLWGGVKAPZZEUNVI6B4EKIZEID/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-06T18:48:00Z","links":{"resolver":"https://pith.science/pith/NLWGGVKAPZZEUNVI6B4EKIZEID","bundle":"https://pith.science/pith/NLWGGVKAPZZEUNVI6B4EKIZEID/bundle.json","state":"https://pith.science/pith/NLWGGVKAPZZEUNVI6B4EKIZEID/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NLWGGVKAPZZEUNVI6B4EKIZEID/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:NLWGGVKAPZZEUNVI6B4EKIZEID","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"da575fac2d9bf6e44f138e5733dca8322b7bb2c4735d7d486f2ee9012520cac3","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T07:00:50Z","title_canon_sha256":"2cff00f98fd315447ea3b49fbbf55d595bde704f646a023ab3621249466de48c"},"schema_version":"1.0","source":{"id":"2309.12660","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.12660","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"arxiv_version","alias_value":"2309.12660v1","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.12660","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"pith_short_12","alias_value":"NLWGGVKAPZZE","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"pith_short_16","alias_value":"NLWGGVKAPZZEUNVI","created_at":"2026-07-05T06:53:15Z"},{"alias_kind":"pith_short_8","alias_value":"NLWGGVKA","created_at":"2026-07-05T06:53:15Z"}],"graph_snapshots":[{"event_id":"sha256:07b977197fc9fe262e06bb48dea9f5ee8d4a95ed646cba1d6989924ad491005a","target":"graph","created_at":"2026-07-05T06:53:15Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2309.12660/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulat","authors_text":"Bingyi Xia, Jiankun Wang, Liang Lu, Max Q.-H. Meng, Rui-Dong Xi, Xiao Xiao, Xue Zhang","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T07:00:50Z","title":"Disturbance Rejection Control for Autonomous Trolley Collection Robots with Prescribed Performance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.12660","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:4ad06e489344a469dc9e5958d7a9edebbe17313252340a302f6b71893c3a2f11","target":"record","created_at":"2026-07-05T06:53:15Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"da575fac2d9bf6e44f138e5733dca8322b7bb2c4735d7d486f2ee9012520cac3","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-22T07:00:50Z","title_canon_sha256":"2cff00f98fd315447ea3b49fbbf55d595bde704f646a023ab3621249466de48c"},"schema_version":"1.0","source":{"id":"2309.12660","kind":"arxiv","version":1}},"canonical_sha256":"6aec6355407e724a36a8f07845232440f94e79bf1f3105b10e47b6e1bce4091d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6aec6355407e724a36a8f07845232440f94e79bf1f3105b10e47b6e1bce4091d","first_computed_at":"2026-07-05T06:53:15.873447Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:53:15.873447Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"27qY9VhYxy6zncoAHMhajv4GPOzyOVDjEbxz8/N6d8djH8f2WOof8F9XsDv/vtVDvNLGqqbjK/ck+0pgg9qWBA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:53:15.873886Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.12660","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4ad06e489344a469dc9e5958d7a9edebbe17313252340a302f6b71893c3a2f11","sha256:07b977197fc9fe262e06bb48dea9f5ee8d4a95ed646cba1d6989924ad491005a"],"state_sha256":"6a4a9f097ecf4d40fac6dc75a41c0dbe88eb96708c8f16ce9febcd43e54565c6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VNIqmiTw3TflK4bD5lfE9FMcqKGpZwokUKpsO9VYtZtIqdFwBblDIyGpP9vWfw8u696rlB/PIUR/IeZ0uZ6QCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T18:48:00.251582Z","bundle_sha256":"45f6593e0b42cbfc811b2940e549717e0fee0439a7119e795816d0020ca0bd63"}}