{"id":"https://openalex.org/W2931497799","doi":"https://doi.org/10.1108/ir-10-2018-0212","title":"A two-wheel load balance control strategy for an HVTL inspection robot based on second-order sliding-mode","display_name":"A two-wheel load balance control strategy for an HVTL inspection robot based on second-order sliding-mode","publication_year":2019,"publication_date":"2019-03-29","ids":{"openalex":"https://openalex.org/W2931497799","doi":"https://doi.org/10.1108/ir-10-2018-0212","mag":"2931497799"},"language":"en","primary_location":{"id":"doi:10.1108/ir-10-2018-0212","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2018-0212","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5030144354","display_name":"Zhihang He","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhihang He","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085458027","display_name":"Huaping Ruan","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Ruan","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110771612","display_name":"Yanzhang Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzhang Yao","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740146","display_name":"Xuelong Li","orcid":"https://orcid.org/0000-0003-2037-2525"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuelong Li","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108664646","display_name":"Dehua Zou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dehua Zou","raw_affiliation_strings":["Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment, Changsha, Hunan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115565919","display_name":"Yu Yan","orcid":"https://orcid.org/0000-0003-3620-5756"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu Yan","raw_affiliation_strings":["Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment, Changsha, Hunan, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010411687","display_name":"Shaochun Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaochun Jia","raw_affiliation_strings":["Guangdong Keystar Intelligence Robot Co., Ltd., Shunde, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Keystar Intelligence Robot Co., Ltd., Shunde, Guangdong, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5030144354"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":0.4371,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.59763701,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"46","issue":"1","first_page":"83","last_page":"92"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13715","display_name":"Power Line Inspection Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9878000020980835,"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/robot","display_name":"Robot","score":0.7076606154441833},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6882550120353699},{"id":"https://openalex.org/keywords/traction-control-system","display_name":"Traction control system","score":0.5974798798561096},{"id":"https://openalex.org/keywords/tire-balance","display_name":"Tire balance","score":0.5684075951576233},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.5216991305351257},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5066924691200256},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4399094879627228},{"id":"https://openalex.org/keywords/electric-power-transmission","display_name":"Electric power transmission","score":0.4326918423175812},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42817407846450806},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42128512263298035},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37475115060806274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33189263939857483},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20795971155166626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15995463728904724},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12585443258285522},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08657962083816528}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7076606154441833},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6882550120353699},{"id":"https://openalex.org/C167947727","wikidata":"https://www.wikidata.org/wiki/Q433478","display_name":"Traction control system","level":2,"score":0.5974798798561096},{"id":"https://openalex.org/C133055659","wikidata":"https://www.wikidata.org/wiki/Q1751501","display_name":"Tire balance","level":2,"score":0.5684075951576233},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.5216991305351257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5066924691200256},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4399094879627228},{"id":"https://openalex.org/C140311924","wikidata":"https://www.wikidata.org/wiki/Q200928","display_name":"Electric power transmission","level":2,"score":0.4326918423175812},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42817407846450806},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42128512263298035},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37475115060806274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33189263939857483},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20795971155166626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15995463728904724},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12585443258285522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08657962083816528},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-10-2018-0212","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2018-0212","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W159604569","https://openalex.org/W1486021556","https://openalex.org/W1538799060","https://openalex.org/W1974103200","https://openalex.org/W1984116984","https://openalex.org/W1984375769","https://openalex.org/W1986283831","https://openalex.org/W2039539088","https://openalex.org/W2047107441","https://openalex.org/W2070084297","https://openalex.org/W2084748705","https://openalex.org/W2102937854","https://openalex.org/W2108477774","https://openalex.org/W2120698001","https://openalex.org/W2125954508","https://openalex.org/W2144102698","https://openalex.org/W2144449207","https://openalex.org/W2163117478","https://openalex.org/W2436008783","https://openalex.org/W2533872764","https://openalex.org/W2578012355","https://openalex.org/W2620897143","https://openalex.org/W2755474475","https://openalex.org/W2792141419","https://openalex.org/W2795574146","https://openalex.org/W2806253579","https://openalex.org/W4236352143"],"related_works":["https://openalex.org/W4285143033","https://openalex.org/W2325887029","https://openalex.org/W1497592843","https://openalex.org/W2363550191","https://openalex.org/W2349132831","https://openalex.org/W1991130350","https://openalex.org/W2365324838","https://openalex.org/W2083511479","https://openalex.org/W2238240006","https://openalex.org/W1790609429"],"abstract_inverted_index":{"Purpose":[0],"Overhead":[1],"high-voltage":[2],"transmission":[3,13,22],"line":[4],"(HVTL)":[5],"inspection":[6,61,82,195],"robots":[7],"are":[8,183],"used":[9],"to":[10,74,109,113,124],"inspect":[11],"the":[12,17,26,32,35,44,48,60,66,80,91,99,114,118,126,147,152,157,166,169,178,189,194,200],"lines":[14],"and/or":[15],"maintain":[16],"infrastructures":[18],"of":[19,25,59,79,98,128,168],"a":[20,52,87,95],"power":[21],"grid.":[23],"One":[24],"most":[27],"serious":[28],"problems":[29],"is":[30,38,106,122],"that":[31,42,151,177],"load":[33,105,129,170],"on":[34,43,65,138,180,191],"front":[36,67],"wheel":[37,68,120,132,154,159],"much":[39],"larger":[40],"than":[41],"back":[45],"one":[46],"when":[47],"robot":[49,62,100,196],"travels":[50],"along":[51,199],"sloping":[53],"earth":[54,201],"wire.":[55],"Thus,":[56],"ongoing":[57],"operation":[58,77],"mainly":[63],"depends":[64],"motor\u2019s":[69],"ability.":[70],"This":[71,144],"paper":[72],"aims":[73],"extend":[75],"continuous":[76],"time":[78],"HVTL":[81],"robots.":[83],"Design/methodology/approach":[84],"By":[85,187],"introducing":[86],"traction":[88,115],"force":[89,116],"model,":[90,117],"authors":[92],"have":[93],"established":[94],"dynamic":[96],"model":[97],"with":[101],"slip.":[102,160],"The":[103],"total":[104],"evenly":[107],"distributed":[108],"both":[110,181,192],"wheels.":[111],"According":[112],"desired":[119,158],"slip":[121,133,155],"calculated":[123],"achieve":[125],"goal":[127],"balance.":[130],"A":[131,161],"controller":[134,145],"was":[135],"designed":[136],"based":[137],"second-order":[139],"sliding-mode":[140],"control":[141,148,172],"methodology.":[142],"Findings":[143],"accomplishes":[146],"objective,":[149],"such":[150],"actual":[153],"tracks":[156],"simulation":[162],"and":[163],"experiment":[164],"verify":[165],"feasibility":[167],"balance":[171],"system.":[173],"These":[174],"results":[175],"indicate":[176],"loads":[179,190],"wheels":[182],"generally":[184],"equal.":[185],"Originality/value":[186],"balancing":[188],"wheels,":[193],"can":[197],"travel":[198],"wire":[202],"longer,":[203],"improving":[204],"its":[205],"efficiency.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
