{"id":"https://openalex.org/W2982554184","doi":"https://doi.org/10.1109/access.2019.2949746","title":"Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot","display_name":"Fault-Tolerant Dynamic Control of a Four-Wheel Redundantly-Actuated Mobile Robot","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2982554184","doi":"https://doi.org/10.1109/access.2019.2949746","mag":"2982554184"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2949746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2949746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08884120.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08884120.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100395708","display_name":"Xiaolong Zhang","orcid":"https://orcid.org/0000-0003-2808-1220"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Zhang","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2808-1220","affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014022622","display_name":"Yuanlong Xie","orcid":"https://orcid.org/0000-0003-1158-1587"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanlong Xie","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-1158-1587","affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101838263","display_name":"Liquan Jiang","orcid":"https://orcid.org/0000-0002-7203-5953"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liquan Jiang","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357024","display_name":"Gen Li","orcid":"https://orcid.org/0000-0002-3038-8240"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gen Li","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670645","display_name":"Jie Meng","orcid":"https://orcid.org/0000-0002-4485-4812"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Meng","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058958587","display_name":"Yu Huang","orcid":"https://orcid.org/0000-0002-9360-0843"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Huang","raw_affiliation_strings":["School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.2035,"has_fulltext":true,"cited_by_count":31,"citation_normalized_percentile":{"value":0.92262824,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"157909","last_page":"157921"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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":0.9976999759674072,"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":0.826616644859314},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7265578508377075},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7243448495864868},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.6774279475212097},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6052625775337219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.598983108997345},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5349522829055786},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5312013030052185},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48902735114097595},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4594517648220062},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37920594215393066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.276324987411499},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13945886492729187},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08933836221694946}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.826616644859314},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7265578508377075},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7243448495864868},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.6774279475212097},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6052625775337219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.598983108997345},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5349522829055786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5312013030052185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48902735114097595},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4594517648220062},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37920594215393066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.276324987411499},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13945886492729187},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08933836221694946},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2949746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2949746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08884120.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d32cd2d8a83e41ab8aabc82d4aae6bf6","is_oa":true,"landing_page_url":"https://doaj.org/article/d32cd2d8a83e41ab8aabc82d4aae6bf6","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,"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":"IEEE Access, Vol 7, Pp 157909-157921 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2949746","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2949746","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08884120.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G6913716497","display_name":null,"funder_award_id":"2019M650179","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2982554184.pdf","grobid_xml":"https://content.openalex.org/works/W2982554184.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1977042441","https://openalex.org/W1998480117","https://openalex.org/W2039739128","https://openalex.org/W2251591415","https://openalex.org/W2285870816","https://openalex.org/W2286082179","https://openalex.org/W2337611563","https://openalex.org/W2339372098","https://openalex.org/W2465192128","https://openalex.org/W2559338715","https://openalex.org/W2573937190","https://openalex.org/W2613606516","https://openalex.org/W2732227510","https://openalex.org/W2736492724","https://openalex.org/W2758919913","https://openalex.org/W2765496437","https://openalex.org/W2778649024","https://openalex.org/W2781176355","https://openalex.org/W2789882629","https://openalex.org/W2793161383","https://openalex.org/W2793201052","https://openalex.org/W2802998800","https://openalex.org/W2804158892","https://openalex.org/W2805394929","https://openalex.org/W2805756736","https://openalex.org/W2805977334","https://openalex.org/W2884646379","https://openalex.org/W2885310877","https://openalex.org/W2886501009","https://openalex.org/W2890109319","https://openalex.org/W2894290879","https://openalex.org/W2895302821","https://openalex.org/W2906089147","https://openalex.org/W2910612289","https://openalex.org/W2919629399","https://openalex.org/W2922380376","https://openalex.org/W2926228387","https://openalex.org/W2931861105","https://openalex.org/W6750026571","https://openalex.org/W6751426633"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2140812588","https://openalex.org/W2411113819","https://openalex.org/W2072887367","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W2164760767","https://openalex.org/W1980242058"],"abstract_inverted_index":{"Four-wheel":[0],"redundantly-actuated":[1,100],"mobile":[2],"robot":[3,15],"(FRMR)":[4],"offers":[5,83],"high":[6,72],"controllability":[7],"and":[8,17,34,66,92,124,129,148],"maneuverability":[9],"for":[10,49],"automation":[11],"applications.":[12],"However,":[13],"the":[14,54,63,71,89,94,99,109,132],"dynamics":[16],"actuator":[18,68,122],"failures":[19,123],"are":[20,136],"normally":[21],"omitted":[22],"in":[23,108],"existing":[24],"kinematic":[25],"control":[26,45],"schemes,":[27],"which":[28,56],"may":[29],"lead":[30],"to":[31,61,87,112],"steering":[32,90],"vibration":[33],"degraded":[35],"robustness.":[36],"To":[37],"deal":[38],"with":[39,74,118],"these":[40],"problems,":[41],"a":[42,58,75,102],"fault-tolerant":[43],"dynamic":[44],"method":[46,82],"is":[47,106],"developed":[48],"precise":[50],"trajectory":[51],"tracking":[52,146],"of":[53,121,131],"FRMR,":[55],"utilizes":[57],"two-level":[59],"structure":[60],"cover":[62],"wheel-ground":[64],"interactions":[65],"possible":[67],"failures.":[69],"In":[70],"level,":[73],"novel":[76],"fractional-order":[77],"sliding":[78],"mode":[79],"control,":[80],"this":[81],"an":[84],"effective":[85],"way":[86],"regulate":[88],"angle":[91],"eliminate":[93],"rotation":[95],"chattering":[96],"simultaneously.":[97],"For":[98],"issue,":[101],"robust":[103],"allocation":[104],"solution":[105],"presented":[107],"lower":[110],"level":[111],"straightly":[113],"determine":[114],"optimal":[115],"driving":[116],"torques":[117],"full":[119],"considerations":[120],"optimization":[125],"efficiency.":[126],"The":[127,139],"convergence":[128],"stability":[130],"achieved":[133],"FRMR":[134],"system":[135],"guaranteed":[137],"theoretically.":[138],"experimental":[140],"comparative":[141],"results":[142],"verify":[143],"that":[144],"higher":[145],"precision":[147],"enhanced":[149],"robustness":[150],"can":[151],"be":[152],"obtained":[153],"using":[154],"our":[155],"proposed":[156],"method.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":9}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}