{"id":"https://openalex.org/W2029804742","doi":"https://doi.org/10.1109/iros.2013.6696761","title":"Control allocation of all-wheel drive vehicles: A longitudinal model","display_name":"Control allocation of all-wheel drive vehicles: A longitudinal model","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2029804742","doi":"https://doi.org/10.1109/iros.2013.6696761","mag":"2029804742"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5111977055","display_name":"Asher Stern","orcid":null},"institutions":[{"id":"https://openalex.org/I52170813","display_name":"Ariel University","ror":"https://ror.org/03nz8qe97","country_code":"IL","type":"education","lineage":["https://openalex.org/I52170813"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Asher Stern","raw_affiliation_strings":["Department of Mechanical Engineering and Mechatronics, Ariel University, Ariel, Israel","Dept. of Mech. Eng. & Mechatron., Ariel Univ., Ariel, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechatronics, Ariel University, Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Mechatron., Ariel Univ., Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030950811","display_name":"Zvi Shiller","orcid":"https://orcid.org/0000-0003-1303-0367"},"institutions":[{"id":"https://openalex.org/I52170813","display_name":"Ariel University","ror":"https://ror.org/03nz8qe97","country_code":"IL","type":"education","lineage":["https://openalex.org/I52170813"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Zvi Shiller","raw_affiliation_strings":["Department of Mechanical Engineering and Mechatronics, Ariel University, Ariel, Israel","Dept. of Mech. Eng. & Mechatron., Ariel Univ., Ariel, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechatronics, Ariel University, Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]},{"raw_affiliation_string":"Dept. of Mech. Eng. & Mechatron., Ariel Univ., Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111977055"],"corresponding_institution_ids":["https://openalex.org/I52170813"],"apc_list":null,"apc_paid":null,"fwci":0.81220434,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78369016,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"5","issue":null,"first_page":"2862","last_page":"2867"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9997000098228455,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.643538236618042},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5808327198028564},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5139839053153992},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4797893166542053},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4642546772956848},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4430287480354309},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4424038231372833},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43816810846328735},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3405541777610779},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2711109519004822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2666570544242859},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2612006366252899},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2570136785507202},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.17547264695167542},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12953263521194458},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12572428584098816},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12492391467094421}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.643538236618042},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5808327198028564},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5139839053153992},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4797893166542053},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4642546772956848},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4430287480354309},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4424038231372833},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43816810846328735},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3405541777610779},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2711109519004822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2666570544242859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2612006366252899},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2570136785507202},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.17547264695167542},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12953263521194458},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12572428584098816},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12492391467094421},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1968603427","https://openalex.org/W2067525253","https://openalex.org/W2107164736","https://openalex.org/W2113526778","https://openalex.org/W2126425157","https://openalex.org/W2131000232","https://openalex.org/W2133495566","https://openalex.org/W2134463269","https://openalex.org/W2138523214","https://openalex.org/W2144924965","https://openalex.org/W2145930766","https://openalex.org/W2149274630","https://openalex.org/W2170266271","https://openalex.org/W2541498295"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W3188641839","https://openalex.org/W2784113758","https://openalex.org/W2174006685","https://openalex.org/W3175944335","https://openalex.org/W2062829680","https://openalex.org/W2516638161"],"abstract_inverted_index":{"This":[0,142],"paper":[1,28],"offers":[2],"a":[3,18,35,42,149,172,181,190,221],"method":[4,168],"to":[5,63,82,108,152,159],"compute":[6,47,161],"the":[7,48,51,60,69,77,84,95,99,102,110,115,123,139,153,162,176,187,195,201,209,217,240],"control":[8,111,132],"inputs":[9,112,133],"for":[10,114,171],"an":[11,127],"all-wheel":[12],"drive":[13,242],"vehicle":[14,64,155,173,188],"that":[15,194,216],"moves":[16],"along":[17,59,76,138],"specified":[19,140],"path":[20,78],"on":[21,30,68],"rough":[22],"terrain.":[23],"The":[24,119,167],"focus":[25],"of":[26,50,101,104,186,224],"this":[27],"is":[29,79,145,169,213],"longitudinal":[31,124],"motion":[32,237],"only,":[33],"using":[34],"half-car":[36],"model":[37,125,219],"with":[38,189,200],"no":[39],"suspensions.":[40],"For":[41],"given":[43,91],"path,":[44,61],"we":[45],"first":[46],"range":[49],"admissible":[52,85,225],"speeds":[53,86,179,226,234],"and":[54,66,87,89,227,229,235],"accelerations":[55,88,100],"at":[56,175,203,208],"every":[57],"point":[58],"subject":[62],"dynamics":[65],"constraints":[67],"wheel/ground":[70],"forces.":[71],"A":[72,183],"feasible":[73],"velocity":[74,96],"profile":[75,97],"then":[80],"computed":[81],"respect":[83],"satisfy":[90],"boundary":[92],"conditions.":[93],"While":[94],"represents":[98],"center":[103],"mass,":[105],"it":[106],"remains":[107],"determine":[109],"(torques)":[113],"two":[116,131,163,196],"independent":[117],"wheels.":[118],"challenge":[120],"stems":[121],"from":[122],"being":[126],"indeterminate":[128],"system,":[129],"having":[130],"but":[134],"only":[135],"one":[136],"degree-of-freedom":[137],"path.":[141],"inherent":[143],"indeterminacy":[144],"resolved":[146],"by":[147],"adding":[148],"virtual":[150],"suspension":[151,192],"rigid":[154],"model,":[156],"which":[157],"allows":[158],"explicitly":[160],"individual":[164],"wheel":[165],"torques.":[166],"demonstrated":[170],"moving":[174,207],"time":[177],"optimal":[178],"over":[180],"bump.":[182],"dynamic":[184],"simulation":[185],"stiff":[191],"shows":[193],"wheels":[197],"maintain":[198],"contact":[199],"ground":[202],"all":[204],"times,":[205],"despite":[206],"ultimate":[210],"speeds.":[211],"It":[212],"also":[214],"shown":[215],"all-wheel-drive":[218],"produces":[220],"larger":[222],"set":[223],"accelerations,":[228],"hence":[230],"results":[231],"in":[232],"faster":[233],"shorter":[236],"times":[238],"than":[239],"single":[241],"(front":[243],"or":[244],"rear)":[245],"model.":[246]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
