{"id":"https://openalex.org/W3083548831","doi":"https://doi.org/10.1109/access.2020.3021694","title":"Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle","display_name":"Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3083548831","doi":"https://doi.org/10.1109/access.2020.3021694","mag":"3083548831"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3021694","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3021694","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09186642.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":null,"license_id":null,"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/ielx7/6287639/8948470/09186642.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073740136","display_name":"Bo Leng","orcid":"https://orcid.org/0000-0003-3513-1708"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Leng","raw_affiliation_strings":["Postdoctoral Station of Mechanical Engineering, Tongji University, Shanghai, China","School of Automotive Studies, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Postdoctoral Station of Mechanical Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100379486","display_name":"Lu Xiong","orcid":"https://orcid.org/0000-0002-1673-2658"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Xiong","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082936279","display_name":"Zhuoping Yu","orcid":"https://orcid.org/0000-0002-8775-0052"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoping Yu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062750482","display_name":"Kai Sun","orcid":"https://orcid.org/0000-0003-3443-4061"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Sun","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347831","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0003-2801-8918"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073740136"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.8293,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.85008625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"162196","last_page":"162208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"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":1.0,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9968000054359436,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8188338875770569},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.7030131220817566},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6808887720108032},{"id":"https://openalex.org/keywords/angular-acceleration","display_name":"Angular acceleration","score":0.5224670171737671},{"id":"https://openalex.org/keywords/slip-ratio","display_name":"Slip ratio","score":0.5168131589889526},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.4989492893218994},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4859527349472046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46963071823120117},{"id":"https://openalex.org/keywords/rate-of-convergence","display_name":"Rate of convergence","score":0.4694862961769104},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.46564731001853943},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43556058406829834},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.4224562346935272},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.4181499183177948},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.4174298644065857},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4169749319553375},{"id":"https://openalex.org/keywords/slip-angle","display_name":"Slip angle","score":0.41021257638931274},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2931993007659912},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27542293071746826},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.269187867641449},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20805901288986206},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1892400085926056},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11590608954429626},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10188931226730347}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8188338875770569},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.7030131220817566},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6808887720108032},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.5224670171737671},{"id":"https://openalex.org/C139166363","wikidata":"https://www.wikidata.org/wiki/Q7540858","display_name":"Slip ratio","level":3,"score":0.5168131589889526},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.4989492893218994},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4859527349472046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46963071823120117},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.4694862961769104},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.46564731001853943},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43556058406829834},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.4224562346935272},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.4181499183177948},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.4174298644065857},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4169749319553375},{"id":"https://openalex.org/C198046988","wikidata":"https://www.wikidata.org/wiki/Q1413792","display_name":"Slip angle","level":3,"score":0.41021257638931274},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2931993007659912},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27542293071746826},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.269187867641449},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20805901288986206},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1892400085926056},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11590608954429626},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10188931226730347},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/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.2020.3021694","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3021694","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09186642.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:98611eec618542d0908cd3ea43363592","is_oa":true,"landing_page_url":"https://doaj.org/article/98611eec618542d0908cd3ea43363592","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 8, Pp 162196-162208 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3021694","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3021694","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09186642.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2129548453","display_name":null,"funder_award_id":"2018YFB0104805","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3083548831.pdf","grobid_xml":"https://content.openalex.org/works/W3083548831.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W2039539088","https://openalex.org/W2096960410","https://openalex.org/W2097196134","https://openalex.org/W2127637022","https://openalex.org/W2486908081","https://openalex.org/W2509433292","https://openalex.org/W2552003286","https://openalex.org/W2584685071","https://openalex.org/W2587150768","https://openalex.org/W2803214667","https://openalex.org/W2809149939","https://openalex.org/W2810124600","https://openalex.org/W2811145035","https://openalex.org/W2888536881","https://openalex.org/W2909231926","https://openalex.org/W2912811964","https://openalex.org/W2922384570","https://openalex.org/W2924652692","https://openalex.org/W2946250619","https://openalex.org/W2946887554","https://openalex.org/W2955447813","https://openalex.org/W2974415171","https://openalex.org/W2980230298","https://openalex.org/W2983431560","https://openalex.org/W2995745812","https://openalex.org/W3016021650","https://openalex.org/W4252199061","https://openalex.org/W6758815671"],"related_works":["https://openalex.org/W4297902662","https://openalex.org/W2394227612","https://openalex.org/W2141803771","https://openalex.org/W2897234907","https://openalex.org/W2967933754","https://openalex.org/W3094618698","https://openalex.org/W4385417779","https://openalex.org/W2011062461","https://openalex.org/W2185409886","https://openalex.org/W2025550891"],"abstract_inverted_index":{"Slip":[0],"rate":[1,18,33,49,119,179,192,223],"control":[2,19,129,135,149,169,208],"is":[3,21,54,96,104,122,162,180],"important":[4],"in":[5,58],"improving":[6],"vehicle":[7,39,219,227],"stability":[8,101,157],"and":[9,42,69,78,103,131,142,145,147,153,177,196,236],"driving":[10,239],"efficiency.":[11],"In":[12],"this":[13],"paper,":[14],"a":[15,38,59,114,216,221],"robust":[16,45],"slip":[17,32,48,71,88,118,178,191,222],"system":[20],"designed":[22,74,123,181],"for":[23,35,67],"distributed":[24,61,217],"drive":[25,62,218],"electric":[26,63],"vehicles":[27],"that":[28,213],"consists":[29],"of":[30,92,111,158,172,186],"two":[31],"estimators":[34,66],"multi-driving":[36],"conditions,":[37],"speed":[40],"estimator,":[41],"an":[43],"anti-windup":[44],"variable":[46,170],"structure":[47],"tracking":[50,120,160],"controller.":[51],"Because":[52],"there":[53],"no":[55],"driven":[56],"wheel":[57,174,231],"four-in-wheel-motor":[60],"vehicle,":[64],"the":[65,87,93,99,109,126,132,150,159,173,184,187,190,205,225,238],"small":[68],"large":[70],"rates":[72],"are":[73,201],"based":[75,124],"on":[76,113,125,233],"dynamic":[77],"kinematic":[79],"methods,":[80],"respectively,":[81],"which":[82],"can":[83,228],"switch":[84],"according":[85],"to":[86,137,148,182,203],"conditions.":[89],"The":[90,117,155,210],"convergence":[91],"estimation":[94,143,193],"error":[95,161],"discussed":[97],"with":[98,215],"Lyapunov":[100,165],"law":[102,130],"less":[105],"than":[106],"2%":[107],"under":[108,198],"condition":[110],"acceleration":[112,176],"low-friction":[115],"road.":[116],"controller":[121,188],"sliding":[127],"mode":[128],"proportional-integral":[133],"(PI)":[134],"method":[136],"handle":[138],"model":[139],"nonlinearity,":[140],"modelling":[141],"errors,":[144],"disturbances":[146],"input":[151],"chattering":[152],"saturation.":[154],"asymptotic":[156],"proven":[163],"by":[164],"theory.":[166],"A":[167],"joint":[168],"composed":[171],"angular":[175],"improve":[183,237],"robustness":[185],"against":[189],"error.":[194],"Simulations":[195],"experiments":[197],"various":[199],"conditions":[200],"performed":[202],"verify":[204],"proposed":[206],"anti-slip":[207],"method.":[209],"results":[211],"show":[212],"compared":[214],"without":[220],"controller,":[224],"controlled":[226],"prevent":[229],"serious":[230],"skid":[232],"low-adhesion":[234],"roads":[235],"performance.":[240]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}