{"id":"https://openalex.org/W2570910605","doi":"https://doi.org/10.1109/iecon.2016.7793205","title":"Sliding mode fault-tolerant controller for overactuated electric vehicles with active steering","display_name":"Sliding mode fault-tolerant controller for overactuated electric vehicles with active steering","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2570910605","doi":"https://doi.org/10.1109/iecon.2016.7793205","mag":"2570910605"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2016.7793205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://repositorio.inesctec.pt/handle/123456789/4045","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024823282","display_name":"Ant\u00f3nio M. Lopes","orcid":"https://orcid.org/0000-0001-7359-4370"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Antonio Lopes","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Porto, PORTUGAL","INESC TEC"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, PORTUGAL","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064763779","display_name":"Rui Esteves Ara\u00fajo","orcid":"https://orcid.org/0000-0002-7866-9068"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rui Esteves Araujo","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Porto, PORTUGAL","INESC TEC"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, PORTUGAL","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Antonio Pedro Aguiar","raw_affiliation_strings":["Faculty of Engineering, University of Porto, Porto, PORTUGAL","Research Center for Systems and Technologies"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto, Porto, PORTUGAL","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"Research Center for Systems and Technologies","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033672611","display_name":"Maria do Ros\u00e1rio de Pinho","orcid":"https://orcid.org/0000-0001-9276-2317"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Maria do Rosaio de Pinho","raw_affiliation_strings":["Universidade do Porto, Porto, Porto, PT"],"affiliations":[{"raw_affiliation_string":"Universidade do Porto, Porto, Porto, PT","institution_ids":["https://openalex.org/I182534213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024823282"],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19642094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"5113","last_page":"5118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9941999912261963,"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":0.9891999959945679,"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/carsim","display_name":"CarSim","score":0.8590121269226074},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8238003849983215},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.645593523979187},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5700342655181885},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5638768672943115},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5488997101783752},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5374432802200317},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.500145673751831},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49400049448013306},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.49109840393066406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4665617048740387},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4380728006362915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4345180094242096},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4273899495601654},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.41818565130233765},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.21617987751960754},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18624824285507202}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.8590121269226074},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8238003849983215},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.645593523979187},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5700342655181885},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5638768672943115},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5488997101783752},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5374432802200317},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.500145673751831},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49400049448013306},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.49109840393066406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4665617048740387},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4380728006362915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4345180094242096},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4273899495601654},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.41818565130233765},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.21617987751960754},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18624824285507202},{"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon.2016.7793205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:repositorio.inesctec.pt:123456789/4045","is_oa":true,"landing_page_url":"http://repositorio.inesctec.pt/handle/123456789/4045","pdf_url":null,"source":{"id":"https://openalex.org/S4306402433","display_name":"Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference object"}],"best_oa_location":{"id":"pmh:oai:repositorio.inesctec.pt:123456789/4045","is_oa":true,"landing_page_url":"http://repositorio.inesctec.pt/handle/123456789/4045","pdf_url":null,"source":{"id":"https://openalex.org/S4306402433","display_name":"Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference object"},"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W580979487","https://openalex.org/W587752234","https://openalex.org/W2012882498","https://openalex.org/W2013753693","https://openalex.org/W2019399823","https://openalex.org/W2020920872","https://openalex.org/W2054684875","https://openalex.org/W2058289215","https://openalex.org/W2127732370","https://openalex.org/W2151595976","https://openalex.org/W2161988007","https://openalex.org/W2172109494","https://openalex.org/W2297125810","https://openalex.org/W2804264600","https://openalex.org/W4300446496","https://openalex.org/W6616937202","https://openalex.org/W6617253520","https://openalex.org/W6653795072"],"related_works":["https://openalex.org/W2090534964","https://openalex.org/W2107572791","https://openalex.org/W2007435079","https://openalex.org/W2772596473","https://openalex.org/W1979110738","https://openalex.org/W1492891152","https://openalex.org/W2534917980","https://openalex.org/W4251854423","https://openalex.org/W3186144085","https://openalex.org/W2022405596"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,7,31,35,54,61,65,73,80,83,97,107,114,117,128,132,163],"tracking":[4],"problem":[5],"of":[6,10,16,34,82,116],"state":[8,32],"variables":[9,33],"a":[11,40,47,69,157],"nonlinear":[12,48],"planar":[13,49],"dynamic":[14],"model":[15,160],"an":[17,122],"overactuated":[18,55],"electric":[19],"vehicle":[20],"with":[21,147,156,169],"four-wheel":[22],"independent":[23],"drive":[24],"(4WID)":[25],"topology.":[26],"In":[27,110],"order":[28,58],"to":[29,59,64,79,105,130],"track":[30],"system":[36,56,74,108],"it":[37,126],"is":[38,121,141],"proposed":[39,139],"new":[41],"sliding":[42],"mode":[43],"controller":[44,52,129,140],"based":[45],"on":[46],"model.":[50],"The":[51,138,151],"explores":[53],"in":[57,86,135,143,167],"redistribute":[60],"control":[62,119,133],"effort":[63,134],"remaining":[66,98],"actuators":[67,100],"when":[68],"fault":[70,94,149],"occurs.":[71],"Although":[72],"has":[75],"multiple":[76],"solutions":[77],"due":[78],"access":[81],"torque":[84],"applied":[85],"each":[87],"wheel":[88],"independently,":[89],"there":[90],"could":[91],"be":[92,103],"particular":[93,112],"events":[95],"where":[96],"healthy":[99],"may":[101],"not":[102],"able":[104],"maintain":[106],"stability.":[109],"those":[111],"cases":[113],"inclusion":[115],"steering":[118],"variable":[120],"important":[123],"advantage":[124],"as":[125],"allows":[127],"manipulate":[131],"any":[136],"directions.":[137],"validated":[142],"various":[144],"driving":[145],"scenarios":[146],"different":[148],"schemes.":[150],"simulations":[152],"are":[153],"carried":[154],"out":[155],"high-fidelity":[158],"vehicular":[159],"provided":[161],"by":[162],"simulation":[164],"software":[165],"Carsim":[166],"co-simulation":[168],"Matlab/Simulink.":[170]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}