{"id":"https://openalex.org/W2105845618","doi":"https://doi.org/10.1109/acc.2009.5160589","title":"Vehicle Pure Yaw Moment control using differential tire slip","display_name":"Vehicle Pure Yaw Moment control using differential tire slip","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2105845618","doi":"https://doi.org/10.1109/acc.2009.5160589","mag":"2105845618"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5160589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160589","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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/A5028833326","display_name":"Wei Liang","orcid":"https://orcid.org/0000-0002-6140-993X"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]},{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Liang","raw_affiliation_strings":["Ford Motor Company Limited, Dearborn, MI, USA","University of Illinois at Urbana\u2013Champaign, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company Limited, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"University of Illinois at Urbana\u2013Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080895253","display_name":"Hai Yu","orcid":"https://orcid.org/0000-0002-8024-1781"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hai Yu","raw_affiliation_strings":["Ford Motor Company Limited, Dearborn, MI, USA","Ford Motor Company at 15000 Commerce Dr. N, Dearborn, MI 48120, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company Limited, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Ford Motor Company at 15000 Commerce Dr. N, Dearborn, MI 48120, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020367513","display_name":"Ryan McGee","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan McGee","raw_affiliation_strings":["Ford Motor Company Limited, Dearborn, MI, USA","Ford Motor Company at 15000 Commerce Dr. N, Dearborn, MI 48120, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company Limited, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Ford Motor Company at 15000 Commerce Dr. N, Dearborn, MI 48120, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112023001","display_name":"Ming Kuang","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming Kuang","raw_affiliation_strings":["Ford Motor Company Limited, Dearborn, MI, USA","Ford Motor Company at 15000 Commerce Dr. N, Dearborn, MI 48120, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company Limited, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Ford Motor Company at 15000 Commerce Dr. N, Dearborn, MI 48120, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111369347","display_name":"Jure Medanic","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I2801919071","display_name":"University of Illinois System","ror":"https://ror.org/05e94g991","country_code":"US","type":"education","lineage":["https://openalex.org/I2801919071"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jure Medanic","raw_affiliation_strings":["Department of Industrial and System Engineering, University of Illinois, Urbana-Champaign, USA","Department of Industrial and System Engineering at the University of Illinois at Urbana-Champaign, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial and System Engineering, University of Illinois, Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I2801919071"]},{"raw_affiliation_string":"Department of Industrial and System Engineering at the University of Illinois at Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"25","issue":null,"first_page":"3331","last_page":"3336"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.7844119071960449},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7688592672348022},{"id":"https://openalex.org/keywords/tire-balance","display_name":"Tire balance","score":0.7584737539291382},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7394101023674011},{"id":"https://openalex.org/keywords/slip-angle","display_name":"Slip angle","score":0.7206335067749023},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.6736459732055664},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6557813286781311},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.6539725065231323},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5617492198944092},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5341509580612183},{"id":"https://openalex.org/keywords/automobile-handling","display_name":"Automobile handling","score":0.48304301500320435},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.48281607031822205},{"id":"https://openalex.org/keywords/traction-control-system","display_name":"Traction control system","score":0.46479150652885437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4475272595882416},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43212518095970154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3065921366214752},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.25194254517555237},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15020546317100525},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1050804853439331},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.09207946062088013}],"concepts":[{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.7844119071960449},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7688592672348022},{"id":"https://openalex.org/C133055659","wikidata":"https://www.wikidata.org/wiki/Q1751501","display_name":"Tire balance","level":2,"score":0.7584737539291382},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7394101023674011},{"id":"https://openalex.org/C198046988","wikidata":"https://www.wikidata.org/wiki/Q1413792","display_name":"Slip angle","level":3,"score":0.7206335067749023},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.6736459732055664},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6557813286781311},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.6539725065231323},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5617492198944092},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5341509580612183},{"id":"https://openalex.org/C148381915","wikidata":"https://www.wikidata.org/wiki/Q870020","display_name":"Automobile handling","level":2,"score":0.48304301500320435},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.48281607031822205},{"id":"https://openalex.org/C167947727","wikidata":"https://www.wikidata.org/wiki/Q433478","display_name":"Traction control system","level":2,"score":0.46479150652885437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4475272595882416},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43212518095970154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3065921366214752},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.25194254517555237},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15020546317100525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1050804853439331},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.09207946062088013},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2009.5160589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160589","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1997777200","https://openalex.org/W2066752373","https://openalex.org/W2090815606","https://openalex.org/W2095605998","https://openalex.org/W2115122053","https://openalex.org/W2145363186","https://openalex.org/W2172108268","https://openalex.org/W2306425595","https://openalex.org/W6698229071"],"related_works":["https://openalex.org/W1991130350","https://openalex.org/W3147770796","https://openalex.org/W1998596452","https://openalex.org/W2742674896","https://openalex.org/W2007671465","https://openalex.org/W629724974","https://openalex.org/W2107030615","https://openalex.org/W2129193553","https://openalex.org/W2317185292","https://openalex.org/W2035791402"],"abstract_inverted_index":{"Direct":[0],"yaw":[1,22,39,78,86,200],"moment":[2,40,53,79,87,201],"control":[3,35,66,110,167,193],"generated":[4],"by":[5,88,106],"differential":[6],"friction":[7,91,103,197],"forces":[8],"on":[9,96,117,144],"an":[10,71],"axle":[11,85,90],"has":[12,121],"been":[13],"proved":[14],"to":[15,50,122,170,203],"be":[16,123],"effective":[17],"in":[18,25],"improving":[19],"vehicle":[20,43,97,114],"lateral":[21,140],"stability":[23],"and":[24,45,116,199],"enhancing":[26],"handling":[27],"performance.":[28],"It":[29],"consists":[30],"of":[31,34,139,153,179],"two":[32],"levels":[33],"tasks:":[36],"calculating":[37],"a":[38,145],"command":[41],"at":[42,54,112,136],"level":[44,65],"regulating":[46],"the":[47,52,83,101,107,131,137,158,172,177,188,191,195],"tire":[48,73,141,148,173],"slip":[49,74,134,174,192],"deliver":[51],"wheel":[55,64],"level.":[56],"Advanced":[57],"powertrain":[58],"with":[59,93,176],"electrical":[60],"in-wheel-motor":[61],"makes":[62,194],"fast":[63],"possible.":[67],"This":[68,127],"paper":[69],"proposes":[70],"adaptive":[72,164,202],"controller":[75],"for":[76],"pure":[77],"generation,":[80],"which":[81],"yields":[82],"maximal":[84,102],"asymmetric":[89],"force":[92,142,198],"no":[94],"effect":[95],"longitudinal":[98,133],"speed.":[99],"Since":[100],"is":[104,157,168],"limited":[105],"tire-road":[108],"contact,":[109],"constraints":[111],"various":[113],"speeds":[115],"different":[118],"surface":[119,160,180,204],"conditions":[120],"taken":[124],"into":[125,190],"account.":[126],"algorithm":[128],"can":[129],"generate":[130],"optimal":[132],"ratio":[135,175],"presence":[138],"based":[143],"2D":[146],"Modified-LuGre":[147],"model.":[149],"One":[150],"major":[151],"difficulty":[152],"such":[154],"type":[155],"controllers":[156],"unknown":[159],"condition.":[161,181],"A":[162],"nonlinear":[163],"braking/traction":[165],"torque":[166],"proposed":[169],"regulate":[171],"estimation":[178],"Simulation":[182],"studies":[183],"show":[184],"that":[185],"feeding":[186],"back":[187],"estimate":[189],"delivered":[196],"conditions.":[205]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
