{"id":"https://openalex.org/W1502675587","doi":"https://doi.org/10.1109/aim.2015.7222621","title":"Path following control of an off-road track vehicle towing a steerable driven implement","display_name":"Path following control of an off-road track vehicle towing a steerable driven implement","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1502675587","doi":"https://doi.org/10.1109/aim.2015.7222621","mag":"1502675587"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5083540202","display_name":"Javad Taghia","orcid":"https://orcid.org/0000-0003-1078-0971"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Javad Taghia","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia","[School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"[School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia]","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110486451","display_name":"Stanley Lam","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Stanley Lam","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia","[School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"[School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia]","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063247063","display_name":"Jayantha Katupitiya","orcid":"https://orcid.org/0000-0003-2683-4532"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jay Katupitiya","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia","[School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia","institution_ids":["https://openalex.org/I31746571"]},{"raw_affiliation_string":"[School of Mechanical and Manufacturing Engineering, University of New South Wales, Australia]","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083540202"],"corresponding_institution_ids":["https://openalex.org/I31746571"],"apc_list":null,"apc_paid":null,"fwci":1.523,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.82729801,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"713","last_page":"718"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9965000152587891,"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"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9965000152587891,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9951000213623047,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9890000224113464,"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/towing","display_name":"Towing","score":0.8529045581817627},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.7667577266693115},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.7140040993690491},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5548612475395203},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5515074133872986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387329459190369},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45461735129356384},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4491099715232849},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4302997887134552},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4044732451438904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3629092574119568},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24607431888580322},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.20383968949317932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08068645000457764}],"concepts":[{"id":"https://openalex.org/C23927387","wikidata":"https://www.wikidata.org/wiki/Q332030","display_name":"Towing","level":2,"score":0.8529045581817627},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.7667577266693115},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.7140040993690491},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5548612475395203},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5515074133872986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387329459190369},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45461735129356384},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4491099715232849},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4302997887134552},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4044732451438904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3629092574119568},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24607431888580322},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.20383968949317932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08068645000457764},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2015.7222621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W118187596","https://openalex.org/W1975537977","https://openalex.org/W2008235203","https://openalex.org/W2021267428","https://openalex.org/W2023233398","https://openalex.org/W2028424308","https://openalex.org/W2070595826","https://openalex.org/W2097280364","https://openalex.org/W2108887282","https://openalex.org/W2134668622","https://openalex.org/W2166561020","https://openalex.org/W2187624070","https://openalex.org/W6684872665"],"related_works":["https://openalex.org/W2577530671","https://openalex.org/W2024750163","https://openalex.org/W2984029879","https://openalex.org/W836545484","https://openalex.org/W2393794252","https://openalex.org/W2579307190","https://openalex.org/W2316161804","https://openalex.org/W1981744917","https://openalex.org/W2319763390","https://openalex.org/W2580187285"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"nonlinear":[3,118],"controllers":[4,44,122],"are":[5,41,45,84,115,123,149],"designed":[6,59,124],"for":[7,78,101],"an":[8,16,79],"accurate":[9,80],"path-following":[10,160],"of":[11,112,133,165,181],"a":[12,52],"track":[13,72,104,135,143,171],"vehicle":[14,73,105,136,144,172],"towing":[15],"active":[17],"implement,":[18],"which":[19],"is":[20,58,184],"steered":[21],"and":[22,31,37,51,69,74,96,106,117,141,162,174,177],"driven,":[23],"in":[24,158],"off-road":[25,188],"terrains":[26],"like":[27],"farms":[28],"where":[29],"longitudinal":[30,90],"lateral":[32],"slips":[33],"at":[34,65,92],"front":[35],"tracks":[36],"rear":[38],"steerable":[39],"wheels":[40,77],"inevitable.":[42],"These":[43],"based":[46],"on":[47,186],"path":[48,98],"offset":[49,99],"values":[50,100],"partial":[53],"dynamic":[54,152],"model.":[55],"The":[56,130,154],"controller":[57,180],"to":[60,86,125],"minimize":[61],"the":[62,66,71,75,88,93,97,103,107,127,134,138,142,146,159,163,166,170,175,182],"lon-gitudinal":[63],"force":[64,91,179],"hitch":[67,94],"point":[68,95],"steer":[70],"implement's":[76],"path-following.":[81],"Error":[82],"vectors":[83],"introduced":[85,116],"combine":[87],"measured":[89],"both":[102],"implement.":[108],"Afterwards,":[109],"two":[110,131],"pairs":[111],"virtual":[113],"states":[114],"contracting":[119],"sliding":[120],"mode":[121],"control":[126,140,148,173],"error":[128],"values.":[129],"cases":[132],"without":[137],"implement":[139,147,183],"with":[145],"compared":[150],"using":[151],"simulations.":[153],"results":[155],"show":[156],"improvements":[157],"accuracy":[161],"drivability":[164],"whole":[167],"system":[168],"when":[169],"steering":[176],"drive":[178],"enabled":[185],"simulated":[187],"terrains.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
