{"id":"https://openalex.org/W4415971169","doi":"https://doi.org/10.1109/tase.2025.3629746","title":"Robust Path Tracking Control of 4WIS-4WID Vehicle Considering Model Mismatch Uncertainty and Actuator Fault","display_name":"Robust Path Tracking Control of 4WIS-4WID Vehicle Considering Model Mismatch Uncertainty and Actuator Fault","publication_year":2025,"publication_date":"2025-11-06","ids":{"openalex":"https://openalex.org/W4415971169","doi":"https://doi.org/10.1109/tase.2025.3629746"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3629746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3629746","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5082393094","display_name":"Xuyang Wang","orcid":"https://orcid.org/0000-0001-9014-9180"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuyang Wang","raw_affiliation_strings":["College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9014-9180","affiliations":[{"raw_affiliation_string":"College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031097117","display_name":"Wanzhong Zhao","orcid":"https://orcid.org/0009-0008-8651-6011"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanzhong Zhao","raw_affiliation_strings":["College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0008-8651-6011","affiliations":[{"raw_affiliation_string":"College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451081","display_name":"Chunyan Wang","orcid":"https://orcid.org/0000-0002-3913-8192"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunyan Wang","raw_affiliation_strings":["College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-3913-8192","affiliations":[{"raw_affiliation_string":"College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072650851","display_name":"Xiaochuan Zhou","orcid":"https://orcid.org/0000-0003-4218-3303"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaochuan Zhou","raw_affiliation_strings":["College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-4218-3303","affiliations":[{"raw_affiliation_string":"College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049145164","display_name":"Zhongkai Luan","orcid":"https://orcid.org/0000-0002-8990-9901"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongkai Luan","raw_affiliation_strings":["College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8990-9901","affiliations":[{"raw_affiliation_string":"College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31147872,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9603000283241272,"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":0.9603000283241272,"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":0.010700000450015068,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.005799999926239252,"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/control-theory","display_name":"Control theory (sociology)","score":0.8328999876976013},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6992999911308289},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5561000108718872},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5447999835014343},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.489300012588501},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46230000257492065},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44269999861717224},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.44190001487731934},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.40450000762939453},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.3912000060081482}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8328999876976013},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6992999911308289},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5561000108718872},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5447999835014343},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.489300012588501},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46230000257492065},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44269999861717224},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.44190001487731934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42820000648498535},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.40450000762939453},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.3889000117778778},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.38589999079704285},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.38589999079704285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.367900013923645},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35019999742507935},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.34220001101493835},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.3368000090122223},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.3328999876976013},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3294000029563904},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2897999882698059},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.28189998865127563},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.2531000077724457},{"id":"https://openalex.org/C522053795","wikidata":"https://www.wikidata.org/wiki/Q2335090","display_name":"Missile guidance","level":3,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3629746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3629746","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3439486347","display_name":null,"funder_award_id":"52402474","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8056034916","display_name":null,"funder_award_id":"U24A20199","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8560514580","display_name":null,"funder_award_id":"BG2024038","funder_id":"https://openalex.org/F4320336601","funder_display_name":"Major Science and Technology Projects in Anhui Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336601","display_name":"Major Science and Technology Projects in Anhui Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1542195203","https://openalex.org/W1979317847","https://openalex.org/W2028476250","https://openalex.org/W2054639902","https://openalex.org/W2119974577","https://openalex.org/W2341848647","https://openalex.org/W2344995793","https://openalex.org/W2346595613","https://openalex.org/W2401884597","https://openalex.org/W2765798687","https://openalex.org/W2768254723","https://openalex.org/W2787015522","https://openalex.org/W2987274140","https://openalex.org/W2991468843","https://openalex.org/W3044225827","https://openalex.org/W3046011398","https://openalex.org/W3048293652","https://openalex.org/W3114622139","https://openalex.org/W3156134339","https://openalex.org/W4211147054","https://openalex.org/W4214753912","https://openalex.org/W4285190049","https://openalex.org/W4285505506","https://openalex.org/W4289521706","https://openalex.org/W4308080369","https://openalex.org/W4321770415","https://openalex.org/W4362581901","https://openalex.org/W4367595513","https://openalex.org/W4385819953","https://openalex.org/W4386824939","https://openalex.org/W4391305615","https://openalex.org/W4401387074","https://openalex.org/W4402673454","https://openalex.org/W4408578880","https://openalex.org/W4413155342"],"related_works":[],"abstract_inverted_index":{"To":[0],"enhance":[1],"path-tracking":[2],"accuracy":[3],"for":[4],"four-wheel":[5],"independent":[6],"steering":[7],"and":[8,19,38,85,121,147],"drive":[9],"(4WIS-4WID)":[10],"vehicles":[11],"on":[12],"high-curvature":[13],"paths":[14],"under":[15,145],"model":[16],"mismatch":[17],"uncertainties":[18],"potential":[20],"actuator":[21,124],"faults,":[22],"this":[23],"paper":[24],"proposes":[25],"a":[26,33,55,63,110],"hierarchical":[27],"robust":[28,41,64],"control":[29,42,65,81,106],"strategy":[30],"consisting":[31],"of":[32],"pseudo-control":[34,46,132],"law":[35,66],"solution":[36],"layer":[37,47,91],"an":[39,49,93],"over-actuated":[40],"allocation":[43,90,107],"layer.":[44],"The":[45],"develops":[48],"enhanced":[50],"tube":[51],"MPC":[52],"framework":[53],"with":[54],"novel":[56],"state-error-driven":[57],"adaptive":[58],"terminal":[59],"constraint":[60],"set,":[61],"deriving":[62],"resistant":[67],"to":[68,126,151],"state":[69],"matrix":[70,82],"uncertainties.":[71],"Addressing":[72],"deviations":[73],"induced":[74],"by":[75],"unknown":[76],"real-time":[77],"perturbations":[78,120],"in":[79],"the":[80,88,104,130],"during":[83],"angle":[84],"torque":[86],"allocation,":[87],"subsequent":[89],"introduces":[92],"innovative":[94],"convex":[95],"quadratic":[96,114],"cone":[97,113],"optimization":[98,115],"(CQCO)":[99],"methodology.":[100],"This":[101],"approach":[102],"reformulates":[103],"uncertain":[105],"problem":[108],"into":[109],"deterministic":[111],"linear":[112],"problem,":[116],"effectively":[117],"suppressing":[118],"time-varying":[119],"accommodating":[122],"partial":[123],"faults":[125],"minimize":[127],"deviation":[128],"from":[129],"desired":[131],"law.":[133],"Hardware-in-the-loop":[134],"experiments":[135],"demonstrate":[136],"that":[137],"proposed":[138],"method":[139],"achieves":[140],"significantly":[141],"superior":[142],"tracking":[143],"performance":[144],"uncertainty":[146],"fault":[148],"conditions":[149],"compared":[150],"conventional":[152],"approaches.":[153]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-06T00:00:00"}
