{"id":"https://openalex.org/W4390144154","doi":"https://doi.org/10.1049/itr2.12474","title":"Novel reaching law based predictive sliding mode control for lateral motion control of in\u2010wheel motor drive electric vehicle with delay estimation","display_name":"Novel reaching law based predictive sliding mode control for lateral motion control of in\u2010wheel motor drive electric vehicle with delay estimation","publication_year":2023,"publication_date":"2023-12-22","ids":{"openalex":"https://openalex.org/W4390144154","doi":"https://doi.org/10.1049/itr2.12474"},"language":"en","primary_location":{"id":"doi:10.1049/itr2.12474","doi":"https://doi.org/10.1049/itr2.12474","is_oa":true,"landing_page_url":"https://doi.org/10.1049/itr2.12474","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1049/itr2.12474","source":{"id":"https://openalex.org/S155689059","display_name":"IET Intelligent Transport Systems","issn_l":"1751-956X","issn":["1751-956X","1751-9578"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["ccf-c","cwts-core","doaj","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IET Intelligent Transport Systems","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1049/itr2.12474","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053423081","display_name":"Vinod R Chiliveri","orcid":"https://orcid.org/0000-0002-3438-8205","observed_orcids":["https://orcid.org/0000-0002-3438-8205"]},"institutions":[{"id":"https://openalex.org/I11880225","display_name":"National Institute of Technology Karnataka","ror":"https://ror.org/01hz4v948","country_code":"IN","type":"education","lineage":["https://openalex.org/I11880225"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vinod Rajeshwar Chiliveri","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, National Institute of Technology Karnataka, Surathkal, Mangalore, India"],"raw_orcid":"https://orcid.org/0000-0002-3438-8205","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, National Institute of Technology Karnataka, Surathkal, Mangalore, India","institution_ids":["https://openalex.org/I11880225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076691513","display_name":"R Kalpana","orcid":"https://orcid.org/0000-0001-5194-5600","observed_orcids":["https://orcid.org/0000-0001-5194-5600"]},"institutions":[{"id":"https://openalex.org/I11880225","display_name":"National Institute of Technology Karnataka","ror":"https://ror.org/01hz4v948","country_code":"IN","type":"education","lineage":["https://openalex.org/I11880225"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"R. Kalpana","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, National Institute of Technology Karnataka, Surathkal, Mangalore, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, National Institute of Technology Karnataka, Surathkal, Mangalore, India","institution_ids":["https://openalex.org/I11880225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032555133","display_name":"Umashankar Subramaniam","orcid":"https://orcid.org/0000-0002-9407-1795","observed_orcids":["https://orcid.org/0000-0002-9407-1795"]},"institutions":[{"id":"https://openalex.org/I142024983","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26","country_code":"SA","type":"education","lineage":["https://openalex.org/I142024983"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Umashankar Subramaniam","raw_affiliation_strings":["Renewable Energy Lab, Communications and Networks Department, Prince Sultan University, Riyadh, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Renewable Energy Lab, Communications and Networks Department, Prince Sultan University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029564190","display_name":"M. Muhibbullah","orcid":"https://orcid.org/0000-0002-6601-9586","observed_orcids":["https://orcid.org/0000-0002-6601-9586"]},"institutions":[{"id":"https://openalex.org/I184763120","display_name":"Bangladesh University","ror":"https://ror.org/03zta4r50","country_code":"BD","type":"education","lineage":["https://openalex.org/I184763120"]}],"countries":["BD"],"is_corresponding":true,"raw_author_name":"Md Muhibbullah","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Bangladesh University, Dhaka, Bangladesh"],"raw_orcid":"https://orcid.org/0000-0002-6601-9586","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Bangladesh University, Dhaka, Bangladesh","institution_ids":["https://openalex.org/I184763120"]}]},{"author_position":"last","author":{"id":null,"display_name":"L. Padmavathi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I41763900","display_name":"Central Electronics Engineering Research Institute","ror":"https://ror.org/01hh45364","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I41763900","https://openalex.org/I4210134808","https://openalex.org/I66760702"]},{"id":"https://openalex.org/I66760702","display_name":"Council of Scientific and Industrial Research","ror":"https://ror.org/021wm7p51","country_code":"IN","type":"government","lineage":["https://openalex.org/I2799351866","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"L. Padmavathi","raw_affiliation_strings":["Integrated Circuits and Systems Group, CSIR-Central Electronics Engineering Research Institute, Pilani, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrated Circuits and Systems Group, CSIR-Central Electronics Engineering Research Institute, Pilani, India","institution_ids":["https://openalex.org/I41763900","https://openalex.org/I66760702"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5029564190"],"corresponding_institution_ids":["https://openalex.org/I184763120"],"apc_list":{"value":2530,"currency":"USD","value_usd":2530},"apc_paid":{"value":2530,"currency":"USD","value_usd":2530},"fwci":1.1124,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76219552,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"18","issue":"5","first_page":"872","last_page":"888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0019000000320374966,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lateral-control","display_name":"lateral control","score":0.9959999918937683},{"id":"https://openalex.org/keywords/reaching-law","display_name":"reaching law","score":0.9169999957084656},{"id":"https://openalex.org/keywords/time-delay-estimation","display_name":"time delay estimation","score":0.8479999899864197},{"id":"https://openalex.org/keywords/unknown-time-delay","display_name":"unknown time delay","score":0.7739999890327454},{"id":"https://openalex.org/keywords/chattering-reduction","display_name":"chattering reduction","score":0.8349999785423279},{"id":"https://openalex.org/keywords/dynamic-control-allocation","display_name":"dynamic control allocation","score":0.8809999823570251},{"id":"https://openalex.org/keywords/virtual-control-signals","display_name":"virtual control signals","score":0.628000020980835}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7349028587341309},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6408992409706116},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5925875902175903},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5596501231193542},{"id":"https://openalex.org/C2776422217","wikidata":"https://www.wikidata.org/wiki/Q13629441","display_name":"Electric vehicle","level":3,"score":0.5015771389007568},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.49793148040771484},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44662150740623474},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43961578607559204},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4369828701019287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4283800721168518},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4060058891773224},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11477670073509216},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09552979469299316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0852399468421936},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.07293230295181274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1049/itr2.12474","doi":"https://doi.org/10.1049/itr2.12474","is_oa":true,"landing_page_url":"https://doi.org/10.1049/itr2.12474","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1049/itr2.12474","source":{"id":"https://openalex.org/S155689059","display_name":"IET Intelligent Transport Systems","issn_l":"1751-956X","issn":["1751-956X","1751-9578"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["ccf-c","cwts-core","doaj","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IET Intelligent Transport Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2a326aba3ce44798b500e67e49c5a79a","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/2a326aba3ce44798b500e67e49c5a79a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IET Intelligent Transport Systems, Vol 18, Iss 5, Pp 872-888 (2024)","raw_type":"article"},{"id":"doi:10.60692/ds7z1-0aj68","doi":"https://doi.org/10.60692/ds7z1-0aj68","is_oa":true,"landing_page_url":"https://doi.org/10.60692/ds7z1-0aj68","pdf_url":null,"source":{"id":"https://openalex.org/S7407051682","display_name":"Greater South Information System","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},{"id":"doi:10.60692/ysm1t-dn847","doi":"https://doi.org/10.60692/ysm1t-dn847","is_oa":true,"landing_page_url":"https://doi.org/10.60692/ysm1t-dn847","pdf_url":null,"source":{"id":"https://openalex.org/S7407051682","display_name":"Greater South Information System","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.1049/itr2.12474","doi":"https://doi.org/10.1049/itr2.12474","is_oa":true,"landing_page_url":"https://doi.org/10.1049/itr2.12474","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1049/itr2.12474","source":{"id":"https://openalex.org/S155689059","display_name":"IET Intelligent Transport Systems","issn_l":"1751-956X","issn":["1751-956X","1751-9578"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["ccf-c","cwts-core","doaj","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310311714","host_organization_name":"Institution of Engineering and Technology","host_organization_lineage":["https://openalex.org/P4310311714"],"host_organization_lineage_names":["Institution of Engineering and Technology"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IET Intelligent Transport Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.651199996471405,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325375","display_name":"National Institute of Technology Karnataka, Surathkal","ror":"https://ror.org/01hz4v948"},{"id":"https://openalex.org/F4320327702","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390144154.pdf","grobid_xml":"https://content.openalex.org/works/W4390144154.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1969653231","https://openalex.org/W1974945677","https://openalex.org/W1986324896","https://openalex.org/W2028583686","https://openalex.org/W2052066290","https://openalex.org/W2314224933","https://openalex.org/W2344405548","https://openalex.org/W2581752731","https://openalex.org/W2587691502","https://openalex.org/W2595738348","https://openalex.org/W2762441957","https://openalex.org/W2785824361","https://openalex.org/W2884237909","https://openalex.org/W2945494979","https://openalex.org/W2974415171","https://openalex.org/W2980673794","https://openalex.org/W3008218687","https://openalex.org/W3010176473","https://openalex.org/W3094822603","https://openalex.org/W3188649414","https://openalex.org/W3202375294","https://openalex.org/W3202801681","https://openalex.org/W3216281690","https://openalex.org/W4205322618","https://openalex.org/W4205916312","https://openalex.org/W4206713704","https://openalex.org/W4214772979","https://openalex.org/W4226489184","https://openalex.org/W4283124089","https://openalex.org/W4285179475","https://openalex.org/W4300995080"],"related_works":["https://openalex.org/W2974415171","https://openalex.org/W4402892256","https://openalex.org/W4361791801","https://openalex.org/W7134188693","https://openalex.org/W2797545030","https://openalex.org/W4403539475","https://openalex.org/W2072384730","https://openalex.org/W2052066290","https://openalex.org/W7162088386","https://openalex.org/W1523520079"],"abstract_inverted_index":{"Abstract":[0],"The":[1,149],"lateral":[2,67],"motion":[3,68],"control":[4,60,69,93,107,132,142,147],"of":[5,17,44,70,100,152,181],"an":[6,14],"in\u2010wheel":[7],"motor":[8],"drive":[9],"electric":[10],"vehicle":[11,19,122],"(IWMD\u2010EV)":[12],"necessitates":[13],"accurate":[15,150],"measurement":[16],"the":[18,42,45,66,71,90,98,105,112,121,125,140,145,153,176,179,182],"states.":[20],"However,":[21],"these":[22],"measured":[23],"states":[24,127],"are":[25,168],"always":[26],"affected":[27],"by":[28,49],"delays":[29],"due":[30],"to":[31,64,74,96,110,123,137,144],"sensor":[32],"measurements,":[33],"communication":[34],"latencies,":[35],"and":[36,103,165,175],"computation":[37],"time,":[38],"which":[39,85],"results":[40,177],"in":[41,84],"degradation":[43],"controller":[46,184],"performance.":[47],"Motivated":[48],"this":[50],"issue,":[51],"a":[52,79,86,115,130,160],"novel":[53],"reaching":[54],"law":[55,117],"based":[56],"predictive":[57],"sliding":[58,91],"mode":[59,92],"(NRL\u2010PSMC)":[61],"is":[62,82,94,118,135,157],"proposed":[63,183],"maintain":[65],"IWMD\u2010EV":[72],"subjected":[73],"unknown":[75,155],"time":[76,101],"delay.":[77],"Initially,":[78],"PSMC":[80],"framework":[81],"built,":[83],"predictor":[87],"integrating":[88],"with":[89],"designed":[95],"eliminate":[97],"effect":[99],"delay":[102,156,161],"generate":[104],"virtual":[106,141],"signals.":[108],"Further,":[109],"alleviate":[111],"chattering":[113],"phenomenon,":[114],"novel\u2010reaching":[116],"developed,":[119],"enabling":[120],"track":[124],"desired":[126],"effectively.":[128],"Subsequently,":[129],"dynamic":[131],"allocation":[133],"technique":[134],"presented":[136],"optimally":[138],"allocate":[139],"input":[143],"actual":[146],"input.":[148],"estimation":[151],"aforementioned":[154],"realized":[158],"through":[159],"estimator.":[162],"Finally,":[163],"simulation":[164],"hardware\u2010in\u2010the\u2010loop":[166],"experiments":[167],"performed":[169],"for":[170],"three":[171],"specific":[172],"driving":[173],"manoeuvres,":[174],"demonstrate":[178],"effectiveness":[180],"design.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4}],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2023-12-24T00:00:00"}