{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:Q5RVX7EHECDKGOMKBCMXWWPN4V","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":"a316eb13896a76b9d8bee6bd963069724e0bf081fe26c5aa92ce9cbc3fc09c57","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-04-18T16:56:19Z","title_canon_sha256":"85522b72679fccb4ad67455a409aefefcb383473ca684d77e0dfa8a8eee84ef4"},"schema_version":"1.0","source":{"id":"1404.4839","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1404.4839","created_at":"2026-05-18T02:42:37Z"},{"alias_kind":"arxiv_version","alias_value":"1404.4839v2","created_at":"2026-05-18T02:42:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1404.4839","created_at":"2026-05-18T02:42:37Z"},{"alias_kind":"pith_short_12","alias_value":"Q5RVX7EHECDK","created_at":"2026-05-18T12:28:43Z"},{"alias_kind":"pith_short_16","alias_value":"Q5RVX7EHECDKGOMK","created_at":"2026-05-18T12:28:43Z"},{"alias_kind":"pith_short_8","alias_value":"Q5RVX7EH","created_at":"2026-05-18T12:28:43Z"}],"graph_snapshots":[{"event_id":"sha256:c6928c16d9970f7e097791cbbd3bf31bac4ccd82336bedb59b493f0de31ab7fb","target":"graph","created_at":"2026-05-18T02:42:37Z","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"},"paper":{"abstract_excerpt":"A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of Caracciolo et al. (ICRA 1999), a dynamic feedback linearization approach, by reducing the number of required assumptions and the number of state terms. We also thoroughly investigate on a gain tuning procedure which is often overlooked for nonlinear controllers. Finally, the performance of the proposed controller is compared with the dynamic feedback linearization ","authors_text":"2), 2) ((1) Sorbonne Universit\\'es, (2) CNRS, Fa\\\"iz Benamar (1, France, France), Jae-Yun Jun (1, Minh-Duc Hua (1","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-04-18T16:56:19Z","title":"A robust trajectory tracking controller for four-wheel skid-steering mobile robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1404.4839","kind":"arxiv","version":2},"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":"sha256:12de5b910bf0081aebeabb485d29ccc8189ffd1cdf75ceb26bcd6f73e0c6aaf5","target":"record","created_at":"2026-05-18T02:42:37Z","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":"a316eb13896a76b9d8bee6bd963069724e0bf081fe26c5aa92ce9cbc3fc09c57","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-04-18T16:56:19Z","title_canon_sha256":"85522b72679fccb4ad67455a409aefefcb383473ca684d77e0dfa8a8eee84ef4"},"schema_version":"1.0","source":{"id":"1404.4839","kind":"arxiv","version":2}},"canonical_sha256":"87635bfc872086a3398a08997b59ede57827e0dcbb50cae27ec24b0eda3c9701","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"87635bfc872086a3398a08997b59ede57827e0dcbb50cae27ec24b0eda3c9701","first_computed_at":"2026-05-18T02:42:37.064906Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:42:37.064906Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BH0BXOIyJM3uFmEWDCsUuRSAlkiSjgKaIXRl2MZ/GgNy2QcjwL5KRmcL/R9IU9ye7ynfZsUD9EnrtJjFlWO0BA==","signature_status":"signed_v1","signed_at":"2026-05-18T02:42:37.065642Z","signed_message":"canonical_sha256_bytes"},"source_id":"1404.4839","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:12de5b910bf0081aebeabb485d29ccc8189ffd1cdf75ceb26bcd6f73e0c6aaf5","sha256:c6928c16d9970f7e097791cbbd3bf31bac4ccd82336bedb59b493f0de31ab7fb"],"state_sha256":"a1b3046fb4570cbce537dadca986a52d4ebaf9c88b6184af686ecc0091dd22df"}