{"id":"https://openalex.org/W4412536537","doi":"https://doi.org/10.1109/tie.2025.3585048","title":"Optimal Trajectory Tracking Control of Four-Wheel Independent Driving Robots With On-Axle Steering","display_name":"Optimal Trajectory Tracking Control of Four-Wheel Independent Driving Robots With On-Axle Steering","publication_year":2025,"publication_date":"2025-07-21","ids":{"openalex":"https://openalex.org/W4412536537","doi":"https://doi.org/10.1109/tie.2025.3585048"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3585048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3585048","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/A5061696285","display_name":"Yue Shen","orcid":"https://orcid.org/0000-0001-7954-0779"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yue Shen","raw_affiliation_strings":["School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110053417","display_name":"Yafei Zhang","orcid":"https://orcid.org/0009-0001-7848-8830"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yafei Zhang","raw_affiliation_strings":["School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428822","display_name":"Wen\u2010Hua Chen","orcid":"https://orcid.org/0000-0003-3356-2889"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wen-Hua Chen","raw_affiliation_strings":["Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103843487","display_name":"Siwei He","orcid":null},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siwei He","raw_affiliation_strings":["School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387577","display_name":"Hui Liu","orcid":"https://orcid.org/0000-0002-4282-7378"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Liu","raw_affiliation_strings":["School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hui Wang","orcid":"https://orcid.org/0009-0008-3373-4728"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Wang","raw_affiliation_strings":["School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5061696285"],"corresponding_institution_ids":["https://openalex.org/I115592961"],"apc_list":null,"apc_paid":null,"fwci":1.1617,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80344909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"72","issue":"12","first_page":"13841","last_page":"13851"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.9322999715805054,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.9322999715805054,"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/T13717","display_name":"Advanced Algorithms and Applications","score":0.9277999997138977,"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/axle","display_name":"Axle","score":0.8276796936988831},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7629560828208923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6246696710586548},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6154894232749939},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5909062027931213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5311625599861145},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5266411304473877},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5190792083740234},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4857204556465149},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4734879434108734},{"id":"https://openalex.org/keywords/torque-steering","display_name":"Torque steering","score":0.42815962433815},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4255621135234833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36411288380622864},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.35808974504470825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19310161471366882},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09642082452774048},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0778975784778595}],"concepts":[{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.8276796936988831},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7629560828208923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6246696710586548},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6154894232749939},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5909062027931213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5311625599861145},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5266411304473877},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5190792083740234},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4857204556465149},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4734879434108734},{"id":"https://openalex.org/C80932167","wikidata":"https://www.wikidata.org/wiki/Q7826801","display_name":"Torque steering","level":3,"score":0.42815962433815},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4255621135234833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36411288380622864},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.35808974504470825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19310161471366882},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09642082452774048},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0778975784778595},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3585048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3585048","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/7","display_name":"Affordable and clean energy","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G1749736923","display_name":null,"funder_award_id":"51975260","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":29,"referenced_works":["https://openalex.org/W1558979968","https://openalex.org/W1559662748","https://openalex.org/W1991686554","https://openalex.org/W2122561468","https://openalex.org/W2152679185","https://openalex.org/W2291087457","https://openalex.org/W2500626843","https://openalex.org/W2514912564","https://openalex.org/W2785824361","https://openalex.org/W2890109319","https://openalex.org/W2921325762","https://openalex.org/W2991110944","https://openalex.org/W3012153102","https://openalex.org/W3016527259","https://openalex.org/W3097634115","https://openalex.org/W3163101257","https://openalex.org/W4226185242","https://openalex.org/W4248339654","https://openalex.org/W4303684428","https://openalex.org/W4308348118","https://openalex.org/W4311174866","https://openalex.org/W4312944585","https://openalex.org/W4321488158","https://openalex.org/W4386608640","https://openalex.org/W4387757675","https://openalex.org/W4391467965","https://openalex.org/W4391879797","https://openalex.org/W4400245770","https://openalex.org/W4400727363"],"related_works":["https://openalex.org/W2731552692","https://openalex.org/W2270823423","https://openalex.org/W2896016817","https://openalex.org/W929814723","https://openalex.org/W2742626114","https://openalex.org/W2070118837","https://openalex.org/W2388472246","https://openalex.org/W2377208232","https://openalex.org/W4313362262","https://openalex.org/W2167667540"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"an":[3,73,97],"optimal":[4,74,110],"trajectory":[5,57,93],"tracking":[6,75,94,111,163],"method":[7],"for":[8,91],"a":[9,30,59,67],"novel":[10],"robotic":[11,27],"platform":[12],"featuring":[13],"four-wheel":[14,50,68],"independent":[15],"driving":[16],"and":[17,45,145,155],"on-axle":[18],"steering":[19,34,44,52],"(4WID-OAS).":[20],"Unlike":[21],"conventional":[22],"mobile":[23],"robots,":[24],"the":[25,38,46,82,89,92,109,114,138,149,152,158],"4WID-OAS":[26,83,153],"vehicle":[28],"adopts":[29],"unique":[31],"coordinated":[32],"differential":[33,43],"system":[35,139],"that":[36,157],"possesses":[37],"low":[39],"torque":[40],"characteristics":[41],"of":[42,49,81,128,137,151],"high":[47,125],"maneuverability":[48],"independently":[51],"(4WIS).":[53],"To":[54],"enable":[55],"autonomous":[56],"tracking,":[58],"lightweight":[60],"control":[61,76,102,126,130],"scheme":[62],"is":[63,85,105,120,140],"developed":[64],"by":[65],"integrating":[66],"speed":[69],"distribution":[70],"strategy":[71,104],"with":[72,132,165],"law.":[77],"The":[78,135],"maneuvering":[79],"model":[80,100],"robot":[84,154],"first":[86],"investigated":[87],"as":[88],"foundation":[90],"system.":[95],"Subsequently,":[96],"explicit":[98],"nonlinear":[99],"predictive":[101],"(ENMPC)":[103],"designed":[106],"to":[107],"solve":[108],"problem.":[112],"With":[113],"closed-form":[115],"ENMPC":[116],"solution,":[117],"online":[118],"optimization":[119],"not":[121],"required,":[122],"thereby":[123],"enabling":[124],"bandwidth":[127],"advanced":[129],"strategies":[131],"reduced":[133],"cost.":[134],"stability":[136],"rigorously":[141],"proven.":[142],"Comprehensive":[143],"simulations":[144],"field":[146],"experiments":[147],"validate":[148],"superiority":[150],"demonstrate":[156],"proposed":[159],"controller":[160],"effectively":[161],"balances":[162],"accuracy":[164],"computational":[166],"efficiency,":[167],"facilitating":[168],"real-time":[169],"deployment":[170],"on":[171],"embedded":[172],"platforms.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
