{"id":"https://openalex.org/W4416750088","doi":"https://doi.org/10.1109/iros60139.2025.11247283","title":"Steady-State Drifting Equilibrium Analysis of Single-Track Two-Wheeled Robots for Controller Design","display_name":"Steady-State Drifting Equilibrium Analysis of Single-Track Two-Wheeled Robots for Controller Design","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750088","doi":"https://doi.org/10.1109/iros60139.2025.11247283"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5063291337","display_name":"Feilong Jing","orcid":"https://orcid.org/0009-0001-2375-9410"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Feilong Jing","raw_affiliation_strings":["Qiyuan Lab,Beijing,China,100095"],"affiliations":[{"raw_affiliation_string":"Qiyuan Lab,Beijing,China,100095","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101627282","display_name":"Yang Deng","orcid":"https://orcid.org/0000-0002-7318-1899"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang Deng","raw_affiliation_strings":["Qiyuan Lab,Beijing,China,100095"],"affiliations":[{"raw_affiliation_string":"Qiyuan Lab,Beijing,China,100095","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048881121","display_name":"Boyi Wang","orcid":"https://orcid.org/0000-0001-9120-4583"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyi Wang","raw_affiliation_strings":["Tsinghua University,The Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,The Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005464184","display_name":"Xudong Zheng","orcid":"https://orcid.org/0000-0002-9056-2116"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xudong Zheng","raw_affiliation_strings":["Qiyuan Lab,Beijing,China,100095"],"affiliations":[{"raw_affiliation_string":"Qiyuan Lab,Beijing,China,100095","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073900823","display_name":"Yifan Sun","orcid":"https://orcid.org/0000-0003-2475-3843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Sun","raw_affiliation_strings":["Tsinghua University,The Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,The Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100452412","display_name":"Zhang Chen","orcid":"https://orcid.org/0000-0002-9583-263X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Chen","raw_affiliation_strings":["Tsinghua University,Department of Automation, BNRist,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation, BNRist,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013703026","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0001-9131-5478"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua University,The Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,The Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5063291337"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39084138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16515","last_page":"16522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9254000186920166,"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":0.9254000186920166,"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":0.04830000177025795,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.006099999882280827,"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":0.7615000009536743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6449999809265137},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6445000171661377},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.616100013256073},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5586000084877014},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.450300008058548},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4260999858379364},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.4068000018596649}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7615000009536743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6449999809265137},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6445000171661377},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.616100013256073},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5586000084877014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48969998955726624},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.450300008058548},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4260999858379364},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.4068000018596649},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3894999921321869},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.37470000982284546},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3443000018596649},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3400000035762787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33390000462532043},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3305000066757202},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.32910001277923584},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.28450000286102295},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2786000072956085},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2669999897480011},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2064924468","https://openalex.org/W2100222214","https://openalex.org/W2102348903","https://openalex.org/W2126475553","https://openalex.org/W2145175815","https://openalex.org/W2154215568","https://openalex.org/W2158782408","https://openalex.org/W2418627435","https://openalex.org/W2513536421","https://openalex.org/W2762929592","https://openalex.org/W2796775309","https://openalex.org/W2921793253","https://openalex.org/W2968951640","https://openalex.org/W2981761302","https://openalex.org/W2999762404","https://openalex.org/W3129348882","https://openalex.org/W3200364555","https://openalex.org/W3209403137","https://openalex.org/W4206517560","https://openalex.org/W4210353754","https://openalex.org/W4296558737","https://openalex.org/W4312967556","https://openalex.org/W4387588207","https://openalex.org/W4387951962","https://openalex.org/W4388726337","https://openalex.org/W4389667488"],"related_works":[],"abstract_inverted_index":{"Drifting":[0],"is":[1,97,114,144],"an":[2,104],"advanced":[3],"driving":[4],"technique":[5,92],"where":[6],"the":[7,13,72,81,84,89,117],"wheeled":[8],"robot\u2019s":[9],"tire-ground":[10],"interaction":[11],"breaks":[12],"common":[14],"non-holonomic":[15],"pure":[16],"rolling":[17],"constraint.":[18],"This":[19],"allows":[20],"high-maneuverability":[21],"tasks":[22],"like":[23],"quick":[24],"cornering,":[25],"and":[26,79,111,150,157],"steady-state":[27,85,148],"drifting":[28,38,73,86,91,149],"control":[29],"enhances":[30],"motion":[31],"stability":[32],"under":[33],"lateral":[34],"slip":[35],"conditions.":[36],"While":[37],"has":[39,60],"been":[40,62],"successfully":[41],"achieved":[42],"in":[43],"four-wheeled":[44],"robot":[45],"systems,":[46],"its":[47,155],"application":[48],"to":[49,76,132,146],"single-track":[50],"two-wheeled":[51],"(STTW)":[52],"robots,":[53],"such":[54],"as":[55],"unmanned":[56],"motorcycles":[57],"or":[58],"bicycles,":[59],"not":[61],"thoroughly":[63],"studied.":[64],"To":[65],"bridge":[66],"this":[67,69,100],"gap,":[68],"paper":[70],"extends":[71],"equilibrium":[74,137,151],"theory":[75],"STTW":[77],"robots":[78],"reveals":[80],"mechanism":[82],"behind":[83],"maneuver.":[87],"Notably,":[88],"counter-steering":[90],"used":[93],"by":[94,120],"skilled":[95],"motorcyclists":[96],"explained":[98],"through":[99,160],"theory.":[101],"In":[102],"addition,":[103],"analytical":[105],"algorithm":[106],"based":[107],"on":[108,136],"intrinsic":[109],"geometry":[110],"kinematics":[112],"relationships":[113],"proposed,":[115],"reducing":[116],"computation":[118],"time":[119],"four":[121],"orders":[122],"of":[123],"magnitude":[124],"while":[125],"maintaining":[126],"less":[127],"than":[128],"6%":[129],"error":[130],"compared":[131],"numerical":[133],"methods.":[134],"Based":[135],"analysis,":[138],"a":[139],"model":[140],"predictive":[141],"controller":[142],"(MPC)":[143],"designed":[145],"achieve":[147],"points":[152],"transition,":[153],"with":[154],"effectiveness":[156],"robustness":[158],"validated":[159],"simulations.":[161]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}