{"id":"https://openalex.org/W3008218687","doi":"https://doi.org/10.1109/tie.2020.2973879","title":"Path Following Control of Autonomous Four-Wheel-Independent-Drive Electric Vehicles via Second-Order Sliding Mode and Nonlinear Disturbance Observer Techniques","display_name":"Path Following Control of Autonomous Four-Wheel-Independent-Drive Electric Vehicles via Second-Order Sliding Mode and Nonlinear Disturbance Observer Techniques","publication_year":2020,"publication_date":"2020-02-20","ids":{"openalex":"https://openalex.org/W3008218687","doi":"https://doi.org/10.1109/tie.2020.2973879","mag":"3008218687"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2020.2973879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2020.2973879","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5101538980","display_name":"Jian-Cheng Chen","orcid":"https://orcid.org/0000-0002-1539-2786"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiancheng Chen","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1539-2786","affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027760497","display_name":"Zhibin Shuai","orcid":"https://orcid.org/0000-0001-6344-482X"},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhibin Shuai","raw_affiliation_strings":["Science and Technology on Vehicle Transmission Laboratory, China North Vehicle Research Institute, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6344-482X","affiliations":[{"raw_affiliation_string":"Science and Technology on Vehicle Transmission Laboratory, China North Vehicle Research Institute, Beijing, China","institution_ids":["https://openalex.org/I4210145005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100637526","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-2501-712X"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["Ningbo Institute of Technology, Beihang University, Ningbo, China","School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2501-712X","affiliations":[{"raw_affiliation_string":"Ningbo Institute of Technology, Beihang University, Ningbo, China","institution_ids":["https://openalex.org/I159389169","https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":null,"display_name":"Wanzhong Zhao","orcid":"https://orcid.org/0000-0002-8750-3553"},"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":["Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8750-3553","affiliations":[{"raw_affiliation_string":"Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8593,"has_fulltext":false,"cited_by_count":245,"citation_normalized_percentile":{"value":0.98634608,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"68","issue":"3","first_page":"2460","last_page":"2469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9937000274658203,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9912999868392944,"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":0.8706262707710266},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7726685404777527},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6887377500534058},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6414473652839661},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4598162770271301},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4575648903846741},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44952479004859924},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.4202912151813507},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41041263937950134},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.40768665075302124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38510769605636597},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22321760654449463},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.15828943252563477}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8706262707710266},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7726685404777527},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6887377500534058},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6414473652839661},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4598162770271301},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4575648903846741},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44952479004859924},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.4202912151813507},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41041263937950134},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.40768665075302124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38510769605636597},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22321760654449463},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.15828943252563477},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2020.2973879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2020.2973879","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1023250958","display_name":"\u56db\u8f6e\u9a71\u52a8\u7535\u52a8\u6c7d\u8f66\u5e95\u76d8\u7cfb\u7edf\u52a8\u6001\u534f\u8c03\u63a7\u5236\u673a\u5236\u4e0e\u80fd\u91cf\u4f18\u5316\u7ba1\u7406","funder_award_id":"U1664257","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G212329184","display_name":null,"funder_award_id":"51505436","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":48,"referenced_works":["https://openalex.org/W1699327229","https://openalex.org/W1937784276","https://openalex.org/W1974945677","https://openalex.org/W1987640506","https://openalex.org/W1988837728","https://openalex.org/W2013753693","https://openalex.org/W2017099259","https://openalex.org/W2029207867","https://openalex.org/W2031945217","https://openalex.org/W2039624058","https://openalex.org/W2048431302","https://openalex.org/W2062928666","https://openalex.org/W2064942388","https://openalex.org/W2085277206","https://openalex.org/W2090556227","https://openalex.org/W2094382651","https://openalex.org/W2107428863","https://openalex.org/W2114594320","https://openalex.org/W2120904460","https://openalex.org/W2144426941","https://openalex.org/W2154892481","https://openalex.org/W2162964098","https://openalex.org/W2230652337","https://openalex.org/W2233094356","https://openalex.org/W2294480821","https://openalex.org/W2319415081","https://openalex.org/W2328246810","https://openalex.org/W2331018279","https://openalex.org/W2337562259","https://openalex.org/W2380127447","https://openalex.org/W2518283862","https://openalex.org/W2520134048","https://openalex.org/W2554209571","https://openalex.org/W2595738348","https://openalex.org/W2753758778","https://openalex.org/W2762441957","https://openalex.org/W2789922282","https://openalex.org/W2907417939","https://openalex.org/W2916025702","https://openalex.org/W2944967058","https://openalex.org/W2959712667","https://openalex.org/W2960188294","https://openalex.org/W2968150738","https://openalex.org/W2990831234","https://openalex.org/W4242031213","https://openalex.org/W4300446496","https://openalex.org/W6640656355","https://openalex.org/W6653795072"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2355389557","https://openalex.org/W2123479323"],"abstract_inverted_index":{"In":[0,25],"this":[1],"article,":[2],"we":[3],"aim":[4],"to":[5,27,43,70],"investigate":[6],"the":[7,45,51,59,72,76,86,99,109,115,125],"path":[8],"following":[9],"control":[10,39,55,82,112],"problem":[11],"for":[12],"four-wheel-independent-drive":[13],"electric":[14],"vehicles":[15],"with":[16,114],"consideration":[17],"of":[18,98],"modeling":[19,77],"errors":[20],"and":[21,31,74,89,123],"complex":[22],"driving":[23],"scenarios.":[24],"order":[26],"guarantee":[28],"operational":[29],"safety":[30],"robustness,":[32],"a":[33,62,80],"supertwisting":[34,110],"second-order":[35],"sliding":[36,53],"mode":[37,54],"(SOSM)":[38],"strategy":[40],"is":[41,68,92],"employed":[42],"suppress":[44,124],"heavy":[46],"chattering":[47,126],"issue":[48],"existing":[49],"in":[50],"traditional":[52],"(SMC).":[56],"To":[57],"degrade":[58],"lumped":[60],"disturbance,":[61],"nonlinear":[63],"disturbance":[64,73],"observer":[65],"(NDOB)":[66],"technique":[67,91,117],"proposed":[69,93],"estimate":[71],"compensate":[75],"error.":[78],"Then,":[79],"composite":[81],"strategy,":[83],"which":[84],"combines":[85],"SMC":[87],"algorithm":[88,113],"NDOB":[90,116],"based":[94],"on":[95],"stability":[96],"analysis":[97],"corresponding":[100],"closed-loop":[101],"system.":[102],"Finally,":[103],"hardware-in-the-loop":[104],"experimental":[105],"results":[106],"show":[107],"that":[108],"SOSM":[111],"can":[118],"achieve":[119],"better":[120],"tracking":[121],"performance":[122],"phenomenon.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":19},{"year":2025,"cited_by_count":49},{"year":2024,"cited_by_count":66},{"year":2023,"cited_by_count":45},{"year":2022,"cited_by_count":40},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":6}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}