{"id":"https://openalex.org/W4365131892","doi":"https://doi.org/10.1109/tie.2023.3265048","title":"Switching Longitudinal and Lateral Semi-decoupled Active Disturbance Rejection Control for Unmanned Ground Vehicles","display_name":"Switching Longitudinal and Lateral Semi-decoupled Active Disturbance Rejection Control for Unmanned Ground Vehicles","publication_year":2023,"publication_date":"2023-04-11","ids":{"openalex":"https://openalex.org/W4365131892","doi":"https://doi.org/10.1109/tie.2023.3265048"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3265048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3265048","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/A5100427180","display_name":"Haoyu Wang","orcid":"https://orcid.org/0000-0002-2920-6251"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Wang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-2920-6251","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037713727","display_name":"Zhiqiang Zuo","orcid":"https://orcid.org/0000-0002-4566-7488"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Zuo","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-4566-7488","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049193102","display_name":"Wenchao Xue","orcid":"https://orcid.org/0000-0003-0637-9413"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210120485","display_name":"Academy of Mathematics and Systems Science","ror":"https://ror.org/02jkmyk67","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210120485"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenchao Xue","raw_affiliation_strings":["Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China","School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0637-9413","affiliations":[{"raw_affiliation_string":"Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210120485","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100780980","display_name":"Yijing Wang","orcid":"https://orcid.org/0000-0002-2430-7213"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijing Wang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-2430-7213","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076344816","display_name":"Hongjiu Yang","orcid":"https://orcid.org/0000-0001-8103-8411"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongjiu Yang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8103-8411","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3775,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.88324658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"71","issue":"3","first_page":"3034","last_page":"3043"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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":0.8626630306243896},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6939019560813904},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.6579222679138184},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6158994436264038},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5074884295463562},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43291494250297546},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4298855662345886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42000195384025574},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41369664669036865},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3886062502861023},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28706252574920654},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14741861820220947},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12428218126296997},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.10758286714553833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1046968400478363},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08415645360946655},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07942256331443787}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8626630306243896},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6939019560813904},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.6579222679138184},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6158994436264038},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5074884295463562},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43291494250297546},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4298855662345886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42000195384025574},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41369664669036865},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3886062502861023},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28706252574920654},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14741861820220947},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12428218126296997},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.10758286714553833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1046968400478363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08415645360946655},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07942256331443787},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3265048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3265048","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":[{"id":"https://metadata.un.org/sdg/11","score":0.4300000071525574,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G122899604","display_name":null,"funder_award_id":"62173243","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6347684835","display_name":null,"funder_award_id":"61933014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6451312304","display_name":null,"funder_award_id":"62122083","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1516127453","https://openalex.org/W1991767249","https://openalex.org/W2097696157","https://openalex.org/W2103345351","https://openalex.org/W2135493101","https://openalex.org/W2142886492","https://openalex.org/W2317934000","https://openalex.org/W2344055271","https://openalex.org/W2521299427","https://openalex.org/W2567389415","https://openalex.org/W2606306225","https://openalex.org/W2766633180","https://openalex.org/W2912361519","https://openalex.org/W2926065969","https://openalex.org/W2972390731","https://openalex.org/W3012213494","https://openalex.org/W3022930466","https://openalex.org/W3032310950","https://openalex.org/W3041763586","https://openalex.org/W3047375952","https://openalex.org/W3116042716","https://openalex.org/W3122136987","https://openalex.org/W3123382748","https://openalex.org/W3134790842","https://openalex.org/W3183923841","https://openalex.org/W4205185877","https://openalex.org/W4206713704","https://openalex.org/W4212877575","https://openalex.org/W4229456189","https://openalex.org/W4289821980"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W4210729524","https://openalex.org/W2991240131","https://openalex.org/W2953358686","https://openalex.org/W2294659156","https://openalex.org/W2353427523","https://openalex.org/W2546873414"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"a":[3,35,50,87],"switching":[4,36,48],"longitudinal":[5,31,37,88],"and":[6,32,38,62,89,108,117],"lateral":[7,33,39,90],"semi-decoupled":[8,91],"active":[9],"disturbance":[10,78],"rejection":[11],"control":[12,19,100,122],"(ADRC)":[13],"strategy":[14,54],"is":[15,42,55,93],"proposed":[16,121],"for":[17,72],"motion":[18,99],"of":[20,75,102,119],"unmanned":[21],"ground":[22],"vehicles":[23],"(UGVs).":[24],"To":[25],"characterize":[26],"the":[27,47,64,69,73,76,83,98,115,120],"coupling":[28],"property":[29],"between":[30],"dynamics,":[34],"semicoupled":[40],"model":[41],"first":[43],"developed.":[44],"By":[45],"utilizing":[46],"method,":[49],"so-called":[51],"\u201ctwo-stage":[52],"ADRC\u201d":[53],"presented.":[56],"It":[57],"has":[58],"two":[59],"forms":[60],"before":[61],"after":[63],"transition":[65],"instant":[66],"such":[67],"that":[68],"boundedness":[70],"premise":[71],"derivative":[74],"total":[77],"can":[79],"be":[80],"removed.":[81],"With":[82],"designed":[84],"two-stage":[85],"ADRC,":[86],"controller":[92],"then":[94],"suggested":[95],"to":[96,113],"solve":[97],"problem":[101],"UGVs.":[103],"Finally,":[104],"both":[105],"stability":[106],"analysis":[107],"comparison":[109],"results":[110],"are":[111],"given":[112],"demonstrate":[114],"effectiveness":[116],"robustness":[118],"strategy.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
