{"id":"https://openalex.org/W3115227622","doi":"https://doi.org/10.1109/itsc45102.2020.9294719","title":"A Yaw Rate Based Stability Control for Under-Actuated Vehicles","display_name":"A Yaw Rate Based Stability Control for Under-Actuated Vehicles","publication_year":2020,"publication_date":"2020-09-20","ids":{"openalex":"https://openalex.org/W3115227622","doi":"https://doi.org/10.1109/itsc45102.2020.9294719","mag":"3115227622"},"language":"en","primary_location":{"id":"doi:10.1109/itsc45102.2020.9294719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc45102.2020.9294719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)","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/A5055502591","display_name":"Alex Gimondi","orcid":"https://orcid.org/0000-0002-2691-9184"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alex Gimondi","raw_affiliation_strings":["Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066842848","display_name":"Matteo Corno","orcid":"https://orcid.org/0000-0003-2644-7487"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Corno","raw_affiliation_strings":["Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sergio M. Savaresi","raw_affiliation_strings":["Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano, Piazza Leonardo da Vinci 32, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.1981,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.55560925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","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/T12810","display_name":"Real-time simulation and control systems","score":0.9988999962806702,"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/yaw","display_name":"Yaw","score":0.7691439390182495},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.7330565452575684},{"id":"https://openalex.org/keywords/slip-angle","display_name":"Slip angle","score":0.6635516285896301},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.6465824842453003},{"id":"https://openalex.org/keywords/powertrain","display_name":"Powertrain","score":0.6354489326477051},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6110617518424988},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.586641252040863},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.5706470608711243},{"id":"https://openalex.org/keywords/allocator","display_name":"Allocator","score":0.5611253380775452},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5383080244064331},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.448437362909317},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.447039932012558},{"id":"https://openalex.org/keywords/automobile-handling","display_name":"Automobile handling","score":0.4446719288825989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39300844073295593},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3787608742713928},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17376646399497986},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.14341190457344055},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1072256863117218},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09631261229515076}],"concepts":[{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.7691439390182495},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.7330565452575684},{"id":"https://openalex.org/C198046988","wikidata":"https://www.wikidata.org/wiki/Q1413792","display_name":"Slip angle","level":3,"score":0.6635516285896301},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.6465824842453003},{"id":"https://openalex.org/C76047896","wikidata":"https://www.wikidata.org/wiki/Q1786258","display_name":"Powertrain","level":3,"score":0.6354489326477051},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6110617518424988},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.586641252040863},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.5706470608711243},{"id":"https://openalex.org/C162262903","wikidata":"https://www.wikidata.org/wiki/Q343527","display_name":"Allocator","level":2,"score":0.5611253380775452},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5383080244064331},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.448437362909317},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.447039932012558},{"id":"https://openalex.org/C148381915","wikidata":"https://www.wikidata.org/wiki/Q870020","display_name":"Automobile handling","level":2,"score":0.4446719288825989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39300844073295593},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3787608742713928},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17376646399497986},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.14341190457344055},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1072256863117218},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09631261229515076},{"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/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":2,"locations":[{"id":"doi:10.1109/itsc45102.2020.9294719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc45102.2020.9294719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1165764","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1165764","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W587752234","https://openalex.org/W1490179882","https://openalex.org/W1532986555","https://openalex.org/W1967344588","https://openalex.org/W1997891847","https://openalex.org/W2019954549","https://openalex.org/W2039294758","https://openalex.org/W2063277719","https://openalex.org/W2072496911","https://openalex.org/W2093663262","https://openalex.org/W2103881119","https://openalex.org/W2107382598","https://openalex.org/W2134133342","https://openalex.org/W2163019154","https://openalex.org/W2249179061","https://openalex.org/W2487703199","https://openalex.org/W2550367838","https://openalex.org/W2761935046","https://openalex.org/W2902351041","https://openalex.org/W2990929492","https://openalex.org/W6629408294"],"related_works":["https://openalex.org/W2394227612","https://openalex.org/W2291606725","https://openalex.org/W2141803771","https://openalex.org/W3094618698","https://openalex.org/W2185409886","https://openalex.org/W2091948930","https://openalex.org/W2374785847","https://openalex.org/W1536785674","https://openalex.org/W2243537713","https://openalex.org/W1899176550"],"abstract_inverted_index":{"Full":[0],"electric":[1],"vehicles":[2],"(FEVs)":[3],"are":[4],"becoming":[5],"more":[6,8],"and":[7,29,49,63,90],"common.":[9],"For":[10],"these":[11],"vehicles,":[12],"a":[13,68,81],"widely":[14],"adopted":[15],"driveline":[16],"configuration":[17,109],"consists":[18],"in":[19],"all-wheel":[20],"drive":[21,27],"(AWD)":[22],"technology":[23],"realized":[24],"by":[25],"independently":[26],"front":[28,48],"rear":[30,50],"axles.":[31],"In":[32],"this":[33,108],"paper,":[34],"we":[35],"investigate":[36],"the":[37,112],"possibility":[38],"of":[39,99],"implementing":[40],"an":[41,95],"electronic":[42],"stability":[43],"control":[44,55,69],"(ESC)":[45],"exploiting":[46],"only":[47],"motor":[51],"torques.":[52],"The":[53,76],"proposed":[54],"is":[56,78],"robust":[57],"with":[58],"respect":[59],"to":[60,67],"friction":[61],"variation":[62],"easily":[64],"tunable":[65],"thanks":[66],"allocation":[70],"that":[71,86,107],"permits":[72],"single-input":[73],"single-output":[74],"formulation.":[75],"allocator":[77],"based":[79],"on":[80],"multi-dimensional":[82],"linearized":[83],"tire":[84],"model":[85],"accounts":[87],"for":[88,116],"longitudinal":[89],"lateral":[91],"slip.":[92],"Despite":[93],"being":[94],"under-actuated":[96],"configuration,":[97],"incapable":[98],"generating":[100],"arbitrary":[101],"yaw":[102],"moments,":[103],"experimental":[104],"tests":[105,115],"show":[106],"still":[110],"passes":[111],"EU":[113],"homologation":[114],"ESC.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}