{"id":"https://openalex.org/W3048788058","doi":"https://doi.org/10.1017/s0263574720000727","title":"Stabilization of a Tractor with <i>n</i> Trailers in the Presence of Wheel Slip Effects","display_name":"Stabilization of a Tractor with <i>n</i> Trailers in the Presence of Wheel Slip Effects","publication_year":2020,"publication_date":"2020-08-12","ids":{"openalex":"https://openalex.org/W3048788058","doi":"https://doi.org/10.1017/s0263574720000727","mag":"3048788058"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720000727","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000727","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5090968310","display_name":"Ali Keymasi Khalaji","orcid":"https://orcid.org/0000-0001-5414-6046"},"institutions":[{"id":"https://openalex.org/I181744264","display_name":"Kharazmi University","ror":"https://ror.org/05hsgex59","country_code":"IR","type":"education","lineage":["https://openalex.org/I181744264"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Ali Keymasi Khalaji","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran E-mail:","Kharazmi University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran E-mail:","institution_ids":["https://openalex.org/I181744264"]},{"raw_affiliation_string":"Kharazmi University","institution_ids":["https://openalex.org/I181744264"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046464821","display_name":"Mostafa Jalalnezhad","orcid":"https://orcid.org/0000-0002-6304-9894"},"institutions":[{"id":"https://openalex.org/I181744264","display_name":"Kharazmi University","ror":"https://ror.org/05hsgex59","country_code":"IR","type":"education","lineage":["https://openalex.org/I181744264"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Mostafa Jalalnezhad","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran E-mail:","Kharazmi University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, Iran E-mail:","institution_ids":["https://openalex.org/I181744264"]},{"raw_affiliation_string":"Kharazmi University","institution_ids":["https://openalex.org/I181744264"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046464821","https://openalex.org/A5090968310"],"corresponding_institution_ids":["https://openalex.org/I181744264"],"apc_list":null,"apc_paid":null,"fwci":0.297,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.55598963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"39","issue":"5","first_page":"787","last_page":"797"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9987999796867371,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.984000027179718,"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/slip","display_name":"Slip (aerodynamics)","score":0.7919554710388184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7021506428718567},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6388218402862549},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5936322808265686},{"id":"https://openalex.org/keywords/phenomenon","display_name":"Phenomenon","score":0.5216574668884277},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.4483380615711212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43450066447257996},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3453536033630371},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3310511112213135},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3268660306930542},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3104768991470337},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.22568732500076294},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12431469559669495},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11553263664245605},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07000255584716797}],"concepts":[{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7919554710388184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7021506428718567},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6388218402862549},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5936322808265686},{"id":"https://openalex.org/C50335755","wikidata":"https://www.wikidata.org/wiki/Q483247","display_name":"Phenomenon","level":2,"score":0.5216574668884277},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.4483380615711212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43450066447257996},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3453536033630371},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3310511112213135},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3268660306930542},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3104768991470337},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.22568732500076294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12431469559669495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11553263664245605},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07000255584716797},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574720000727","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000727","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W22545347","https://openalex.org/W1487127700","https://openalex.org/W1844926694","https://openalex.org/W1847493133","https://openalex.org/W1971044547","https://openalex.org/W2008862526","https://openalex.org/W2032693749","https://openalex.org/W2042444081","https://openalex.org/W2046322199","https://openalex.org/W2050013654","https://openalex.org/W2052726419","https://openalex.org/W2057210436","https://openalex.org/W2089592749","https://openalex.org/W2099761232","https://openalex.org/W2123635000","https://openalex.org/W2128062353","https://openalex.org/W2133661758","https://openalex.org/W2143294995","https://openalex.org/W2143927056","https://openalex.org/W2148993855","https://openalex.org/W2404415682","https://openalex.org/W2462672631","https://openalex.org/W2510362977","https://openalex.org/W2911922016","https://openalex.org/W2913194620","https://openalex.org/W2921299402","https://openalex.org/W2923621420","https://openalex.org/W2926126602","https://openalex.org/W2940781935","https://openalex.org/W2944849475","https://openalex.org/W2969095672","https://openalex.org/W3004331501","https://openalex.org/W3011851934","https://openalex.org/W4400518895","https://openalex.org/W6674952472","https://openalex.org/W6681172672","https://openalex.org/W6682116520"],"related_works":["https://openalex.org/W2146713717","https://openalex.org/W4300792815","https://openalex.org/W2094863673","https://openalex.org/W2604764672","https://openalex.org/W2029971948","https://openalex.org/W2127687077","https://openalex.org/W2920938962","https://openalex.org/W2380420759","https://openalex.org/W2186182827","https://openalex.org/W2948717118"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,19],"purpose":[2,33],"of":[3,34,50,91],"this":[4,30],"paper":[5],"is":[6,23,52,69,75],"to":[7,79],"design":[8],"a":[9,13,47,60],"stabilizing":[10,61],"controller":[11],"for":[12],"car":[14],"with":[15],"n":[16],"connected":[17],"trailers.":[18],"proposed":[20,93],"control":[21,62,94],"algorithm":[22,95],"constructed":[24],"on":[25,65],"the":[26,32,36,39,43,66,81,88,92,97],"Lyapunov":[27,67],"theory.":[28],"In":[29],"paper,":[31],"navigating":[35],"system":[37],"toward":[38],"desired":[40],"point":[41],"considering":[42],"slip":[44,83,98],"phenomenon":[45],"as":[46],"main":[48],"source":[49],"uncertainty":[51,73],"analyzed.":[53],"First":[54],"mathematical":[55],"models":[56],"are":[57],"presented.":[58,70],"Then,":[59],"approach":[63],"based":[64],"theory":[68],"Subsequently,":[71],"an":[72],"estimator":[74],"taken":[76],"into":[77],"account":[78],"overcome":[80],"wheel":[82],"effects.":[84],"Obtained":[85],"results":[86],"show":[87],"convergence":[89],"properties":[90],"against":[96],"phenomenon.":[99]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}