{"id":"https://openalex.org/W2584996625","doi":"https://doi.org/10.1109/icinfa.2016.7832080","title":"Dynamic modeling and sliding mode controller design of a variable structure two-wheeled robot","display_name":"Dynamic modeling and sliding mode controller design of a variable structure two-wheeled robot","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2584996625","doi":"https://doi.org/10.1109/icinfa.2016.7832080","mag":"2584996625"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2016.7832080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","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/A5044603106","display_name":"Bin Xing","orcid":"https://orcid.org/0000-0001-9528-2968"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bin Xing","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344274","display_name":"Lei Guo","orcid":"https://orcid.org/0000-0001-5944-4106"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Guo","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036490457","display_name":"Shimin Wei","orcid":"https://orcid.org/0000-0002-6081-7229"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shimin Wei","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028638573","display_name":"Yuan Song","orcid":"https://orcid.org/0000-0001-6044-906X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Song","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China, 100876","institution_ids":["https://openalex.org/I139759216"]},{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044603106"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":0.2621,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67284614,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2016","issue":null,"first_page":"1635","last_page":"1640"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9973999857902527,"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":0.9973999857902527,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9944000244140625,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7825825214385986},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7244870066642761},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6797691583633423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6656616926193237},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5564010143280029},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.5127823948860168},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5107128620147705},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4933423101902008},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45863449573516846},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45582517981529236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4513005316257477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4353582561016083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25036168098449707},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17834937572479248},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17412179708480835}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7825825214385986},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7244870066642761},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6797691583633423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6656616926193237},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5564010143280029},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.5127823948860168},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5107128620147705},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4933423101902008},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45863449573516846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45582517981529236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4513005316257477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4353582561016083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25036168098449707},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17834937572479248},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17412179708480835},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":2,"locations":[{"id":"doi:10.1109/icinfa.2016.7832080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2016.7832080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"},{"id":"mag:2742770943","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/201702241984140710","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1496249676","https://openalex.org/W1977277930","https://openalex.org/W1994323041","https://openalex.org/W2044902881","https://openalex.org/W2078676277","https://openalex.org/W2139044878","https://openalex.org/W2277309690","https://openalex.org/W2358583706","https://openalex.org/W6694772812"],"related_works":["https://openalex.org/W2166459078","https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2274682661","https://openalex.org/W2306349892","https://openalex.org/W897560829","https://openalex.org/W2375807149","https://openalex.org/W2786766270"],"abstract_inverted_index":{"A":[0],"dynamic":[1,49],"model":[2,50],"and":[3,74,99],"a":[4,12,61],"sliding":[5,62,90],"mode":[6,63,68,91],"controller":[7,64,86],"are":[8],"researched":[9],"based":[10,56,87],"on":[11,57,88],"new":[13],"type":[14],"variable":[15],"structure":[16,24],"two-wheeled":[17],"robot":[18,27,44,53,71],"in":[19],"this":[20],"paper.":[21],"Firstly,":[22],"the":[23,26,32,36,43,48,52,66,70,77,85,89,96],"of":[25,39,42,51,69],"is":[28,45,54,72],"designed":[29,73],"according":[30],"to":[31],"movement":[33],"characteristics.":[34],"Secondly,":[35],"vector":[37],"velocity":[38],"each":[40],"components":[41],"expressed.":[46],"And":[47],"obtained":[55],"Appell":[58],"Equation.":[59],"Thirdly,":[60],"for":[65,76],"bicycle":[67],"simulated":[75],"track-stand":[78],"motion.":[79],"The":[80],"simulation":[81],"results":[82],"prove":[83],"that":[84],"control":[92,97],"theory":[93],"can":[94],"meet":[95],"requirements":[98],"has":[100],"good":[101],"robustness.":[102]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}