{"id":"https://openalex.org/W3002601129","doi":"https://doi.org/10.1109/robio49542.2019.8961761","title":"Accelerating the Validation of Motion Control for a 4WD4WS Ground Vehicle Using a Hierarchical Controller Hardware-in-the-loop System","display_name":"Accelerating the Validation of Motion Control for a 4WD4WS Ground Vehicle Using a Hierarchical Controller Hardware-in-the-loop System","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002601129","doi":"https://doi.org/10.1109/robio49542.2019.8961761","mag":"3002601129"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5057313995","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0002-9730-0063"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Sun","raw_affiliation_strings":["Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100614997","display_name":"Huiyun Li","orcid":"https://orcid.org/0000-0003-0157-1393"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyun Li","raw_affiliation_strings":["Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100332372","display_name":"Yudong Li","orcid":"https://orcid.org/0009-0006-9140-5733"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yudong Li","raw_affiliation_strings":["Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060387989","display_name":"Zhibin Song","orcid":"https://orcid.org/0000-0002-3715-2003"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhibin Song","raw_affiliation_strings":["Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046010374","display_name":"Kun Xu","orcid":"https://orcid.org/0000-0003-2050-9042"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Xu","raw_affiliation_strings":["Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology,Shenzhen Institutes of Advanced Technology,Shenzhen,China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen Key Laboratory of Electric Vehicle Powertrain Platform and Safety Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210145761"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2396","last_page":"2401"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9998999834060669,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998000264167786,"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":0.9951000213623047,"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/hardware-in-the-loop-simulation","display_name":"Hardware-in-the-loop simulation","score":0.5761067271232605},{"id":"https://openalex.org/keywords/powertrain","display_name":"Powertrain","score":0.5746057629585266},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.5636007785797119},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5456691980361938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5327577590942383},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5103030204772949},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5085986852645874},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4992990493774414},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49551427364349365},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42202654480934143},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41357868909835815},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34411686658859253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.313717246055603},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.28905901312828064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17120808362960815},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.16869357228279114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14739125967025757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11251240968704224}],"concepts":[{"id":"https://openalex.org/C70587628","wikidata":"https://www.wikidata.org/wiki/Q1142371","display_name":"Hardware-in-the-loop simulation","level":2,"score":0.5761067271232605},{"id":"https://openalex.org/C76047896","wikidata":"https://www.wikidata.org/wiki/Q1786258","display_name":"Powertrain","level":3,"score":0.5746057629585266},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.5636007785797119},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5456691980361938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5327577590942383},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5103030204772949},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5085986852645874},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4992990493774414},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49551427364349365},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42202654480934143},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41357868909835815},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34411686658859253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.313717246055603},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.28905901312828064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17120808362960815},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.16869357228279114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14739125967025757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11251240968704224},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2206316079","https://openalex.org/W2290528043","https://openalex.org/W2291087457","https://openalex.org/W2312380230","https://openalex.org/W2483193017","https://openalex.org/W2610093888","https://openalex.org/W2768316896","https://openalex.org/W2894131075","https://openalex.org/W2899466578","https://openalex.org/W4248122307","https://openalex.org/W6698684082"],"related_works":["https://openalex.org/W4388980375","https://openalex.org/W2618418892","https://openalex.org/W2007109128","https://openalex.org/W2034688239","https://openalex.org/W1984270851","https://openalex.org/W2586052256","https://openalex.org/W2165405606","https://openalex.org/W2384280493","https://openalex.org/W1983980287","https://openalex.org/W1986454063"],"abstract_inverted_index":{"Due":[0],"to":[1,27,45,85,121,195],"the":[2,8,32,47,50,87,98,102,115,123,142,150,154,160,167,196,201],"actuator":[3],"redundancy":[4],"and":[5,16,68,91,105,118,126,148,171,187],"complexity":[6],"of":[7,31,49,108,129,141,153],"unmanned":[9],"ground":[10],"vehicle":[11,92],"actuated":[12],"by":[13],"four-wheel":[14,17],"drive":[15,116],"steering":[18,106,119,127],"powertrains":[19],"(4WD4WS":[20],"UGV),":[21],"it":[22],"is":[23,62],"a":[24,39,55,65,72,79,137,175,185],"significant":[25],"challenge":[26],"conduct":[28],"fast":[29,186],"verification":[30,48],"complex":[33,161],"control":[34,52,82,99,156,162,169],"system.":[35],"This":[36],"work":[37],"presents":[38],"dedicated":[40],"hierarchical":[41,59],"controller":[42],"hardware-in-the-loop":[43],"system":[44,53,135,183],"accelerate":[46],"motion":[51,155],"for":[54,191],"4WD4WS":[56,143],"UGV.":[57],"The":[58,75,94,111,132,181],"controller,":[60],"that":[61],"implemented":[63],"in":[64,166,174,204],"combined":[66],"onboard-computer":[67],"embedded":[69],"micro-controller,":[70],"adopts":[71],"three-layered":[73],"architecture.":[74],"upper":[76],"layer":[77,96,113],"uses":[78],"model":[80,140,177],"predictive":[81],"algorithm":[83],"(MPC)":[84],"calculate":[86],"desired":[88,103,124],"heading":[89],"angle":[90,128],"speed.":[93],"middle":[95],"converts":[97],"effect":[100],"into":[101],"speeds":[104],"angles":[107],"four":[109],"wheels.":[110],"bottom":[112],"controls":[114],"motor":[117,120],"track":[122],"speed":[125],"each":[130],"wheel.":[131],"proposed":[133],"HC-HIL":[134,182],"establishes":[136],"multibody":[138],"dynamics":[139],"UGV":[144],"with":[145,178],"high":[146,179],"fidelity,":[147],"accelerates":[149],"validation":[151],"process":[152],"performance,":[157],"via":[158],"which":[159],"strategy":[163],"can":[164],"run":[165],"actual":[168],"hardwares":[170],"be":[172],"verified":[173],"virtual":[176],"fidelity.":[180],"provides":[184],"low":[188],"cost":[189],"method":[190],"initial":[192],"testing":[193],"prior":[194],"real":[197,206],"implementation,":[198],"thereby":[199],"reducing":[200],"potential":[202],"failures":[203],"future":[205],"testing.":[207]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
