{"id":"https://openalex.org/W4416677945","doi":"https://doi.org/10.1002/cpe.70424","title":"Event\u2010Driven Model Predictive Control With Sliding Mode Observer for Omnidirectional Demolition Robots","display_name":"Event\u2010Driven Model Predictive Control With Sliding Mode Observer for Omnidirectional Demolition Robots","publication_year":2025,"publication_date":"2025-11-09","ids":{"openalex":"https://openalex.org/W4416677945","doi":"https://doi.org/10.1002/cpe.70424"},"language":"en","primary_location":{"id":"doi:10.1002/cpe.70424","is_oa":false,"landing_page_url":"https://doi.org/10.1002/cpe.70424","pdf_url":null,"source":{"id":"https://openalex.org/S11065456","display_name":"Concurrency and Computation Practice and Experience","issn_l":"1532-0626","issn":["1532-0626","1532-0634"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Concurrency and Computation: Practice and Experience","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011835067","display_name":"Xiaowu Huang","orcid":"https://orcid.org/0000-0002-9035-6056"},"institutions":[{"id":"https://openalex.org/I31590910","display_name":"Jianghan University","ror":"https://ror.org/041c9x778","country_code":"CN","type":"education","lineage":["https://openalex.org/I31590910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowu Huang","raw_affiliation_strings":["Hubei Key Laboratory of Blasting Engineering Jianghan University  Wuhan China","State Key Laboratory of Precision Blasting Jianghan University  Wuhan China","Hubei Key Laboratory of Blasting Engineering, Jianghan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Blasting Engineering Jianghan University  Wuhan China","institution_ids":["https://openalex.org/I31590910"]},{"raw_affiliation_string":"State Key Laboratory of Precision Blasting Jianghan University  Wuhan China","institution_ids":["https://openalex.org/I31590910"]},{"raw_affiliation_string":"Hubei Key Laboratory of Blasting Engineering, Jianghan University, Wuhan, China","institution_ids":["https://openalex.org/I31590910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028370217","display_name":"Jiangtao Fu","orcid":"https://orcid.org/0000-0002-8100-6038"},"institutions":[{"id":"https://openalex.org/I31590910","display_name":"Jianghan University","ror":"https://ror.org/041c9x778","country_code":"CN","type":"education","lineage":["https://openalex.org/I31590910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangtao Fu","raw_affiliation_strings":["Hubei Key Laboratory of Blasting Engineering Jianghan University  Wuhan China","State Key Laboratory of Precision Blasting Jianghan University  Wuhan China","Hubei Key Laboratory of Blasting Engineering, Jianghan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Blasting Engineering Jianghan University  Wuhan China","institution_ids":["https://openalex.org/I31590910"]},{"raw_affiliation_string":"State Key Laboratory of Precision Blasting Jianghan University  Wuhan China","institution_ids":["https://openalex.org/I31590910"]},{"raw_affiliation_string":"Hubei Key Laboratory of Blasting Engineering, Jianghan University, Wuhan, China","institution_ids":["https://openalex.org/I31590910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016257935","display_name":"Juntong Yun","orcid":"https://orcid.org/0000-0003-3210-9257"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Juntong Yun","raw_affiliation_strings":["Hubei Provincial Key Laboratory of Metallurgical Industrial Process System Science Wuhan University of Science and Technology  Wuhan China","Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China","Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Hubei Provincial Key Laboratory of Metallurgical Industrial Process System Science Wuhan University of Science and Technology  Wuhan China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101853158","display_name":"Li He","orcid":"https://orcid.org/0000-0003-3669-1942"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li He","raw_affiliation_strings":["Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan China","Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology  Wuhan China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026180643","display_name":"Changrong Zhang","orcid":"https://orcid.org/0000-0001-6928-6949"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changrong Zhang","raw_affiliation_strings":["Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China","Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology  Wuhan China","institution_ids":["https://openalex.org/I43922553"]},{"raw_affiliation_string":"Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I43922553"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5016257935"],"corresponding_institution_ids":["https://openalex.org/I43922553"],"apc_list":{"value":4740,"currency":"USD","value_usd":4740},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.47648616,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":"27-28","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.5248000025749207,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.5248000025749207,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.08410000056028366,"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":0.06459999829530716,"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/control-theory","display_name":"Control theory (sociology)","score":0.7473000288009644},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5748999714851379},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5468000173568726},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.5430999994277954},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.47589999437332153},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4722000062465668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4607999920845032},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4449999928474426},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.44110000133514404}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7473000288009644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7290999889373779},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5748999714851379},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5468000173568726},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.5430999994277954},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.47589999437332153},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4722000062465668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4607999920845032},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4449999928474426},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.44110000133514404},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40139999985694885},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.3869999945163727},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.36719998717308044},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3668999969959259},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.36559998989105225},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.35659998655319214},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.3253999948501587},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.30799999833106995},{"id":"https://openalex.org/C133710760","wikidata":"https://www.wikidata.org/wiki/Q775837","display_name":"Exponential smoothing","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2874000072479248},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.28279998898506165},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2712000012397766}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/cpe.70424","is_oa":false,"landing_page_url":"https://doi.org/10.1002/cpe.70424","pdf_url":null,"source":{"id":"https://openalex.org/S11065456","display_name":"Concurrency and Computation Practice and Experience","issn_l":"1532-0626","issn":["1532-0626","1532-0634"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Concurrency and Computation: Practice and Experience","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1983977795","https://openalex.org/W1996907503","https://openalex.org/W2005943535","https://openalex.org/W2020963120","https://openalex.org/W2142275244","https://openalex.org/W2146356627","https://openalex.org/W2157540237","https://openalex.org/W2388591084","https://openalex.org/W2546451873","https://openalex.org/W2747755834","https://openalex.org/W2762375398","https://openalex.org/W2895302821","https://openalex.org/W2903101953","https://openalex.org/W2907574859","https://openalex.org/W2936244770","https://openalex.org/W2936583340","https://openalex.org/W2967433175","https://openalex.org/W2988167769","https://openalex.org/W2997127325","https://openalex.org/W3130826541","https://openalex.org/W3165778136","https://openalex.org/W4200019531","https://openalex.org/W4225013368","https://openalex.org/W4291926329","https://openalex.org/W4382118807","https://openalex.org/W4386941000"],"related_works":[],"abstract_inverted_index":{"ABSTRACT":[0],"This":[1,161],"article":[2,146],"addresses":[3],"the":[4,54,88,94,103,119,136,159],"trajectory":[5],"tracking":[6],"problem":[7],"for":[8,47,74,158,165],"a":[9,66,98],"fully":[10],"omnidirectional":[11,166],"demolition":[12],"robot":[13,168],"(FM\u2010OMR)":[14],"equipped":[15],"with":[16,170],"four":[17],"Mecanum":[18],"wheels":[19],"under":[20,113],"longitudinal":[21],"wheel":[22,178],"slippage":[23,179],"and":[24,36,65,70,116,141,154,180],"unknown":[25],"disturbances.":[26,182],"It":[27],"proposes":[28],"an":[29,38,78,85],"event\u2010triggered":[30,86],"model":[31],"predictive":[32],"control":[33],"(EMPC)":[34],"framework":[35],"introduces":[37],"adaptive":[39,79],"exponential":[40,80],"reach":[41],"law":[42],"sliding":[43],"mode":[44],"observer":[45],"(AERL\u2010SMO)":[46],"online":[48,106],"disturbance":[49,117,142],"estimation.":[50],"The":[51,82,145],"AERL\u2010SMO":[52],"suppresses":[53],"chattering":[55],"inherent":[56],"to":[57,128,177],"classical":[58],"sliding\u2010mode":[59],"observers":[60],"by":[61],"using":[62],"tanh\u2010based":[63],"smoothing":[64],"boundary\u2010layer":[67],"saturation":[68],"function,":[69],"it":[71],"accelerates":[72],"convergence":[73],"large":[75],"errors":[76],"through":[77],"gain.":[81],"EMPC":[83],"employs":[84],"strategy:":[87],"MPC":[89,123],"is":[90,163],"re\u2010solved":[91],"only":[92],"when":[93],"error":[95,139],"energy":[96],"exceeds":[97],"threshold,":[99],"which":[100],"significantly":[101],"reduces":[102,122],"number":[104],"of":[105],"QP":[107],"solves.":[108],"Simulation":[109],"validation":[110],"demonstrates":[111],"that":[112,174],"identical":[114],"constraints":[115],"conditions,":[118],"proposed":[120],"method":[121,162],"solution":[124],"iterations":[125],"from":[126],"1257":[127],"579":[129],"(a":[130],"53.85%":[131],"decrease)":[132],"while":[133],"substantially":[134],"lowering":[135],"mean":[137],"absolute":[138],"(MAE)":[140],"estimation":[143],"error.":[144],"also":[147],"presents":[148],"stability":[149],"analysis":[150],"(based":[151],"on":[152],"Lyapunov)":[153],"parameter":[155],"sensitivity":[156],"discussions":[157],"algorithm.":[160],"suitable":[164],"mobile":[167],"platforms":[169],"limited":[171],"computational":[172],"resources":[173],"require":[175],"resistance":[176],"complex":[181]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-10T00:00:00"}
