{"id":"https://openalex.org/W7128604235","doi":"https://doi.org/10.1109/tie.2026.3657004","title":"Wheel Ground Clearance Control for Lunar Rover\u2019s Active Suspension: A Dual-Objective Cooperative Static Output-Feedback H\u221e Controller Under Interest Bandwidth","display_name":"Wheel Ground Clearance Control for Lunar Rover\u2019s Active Suspension: A Dual-Objective Cooperative Static Output-Feedback H\u221e Controller Under Interest Bandwidth","publication_year":2026,"publication_date":"2026-02-11","ids":{"openalex":"https://openalex.org/W7128604235","doi":"https://doi.org/10.1109/tie.2026.3657004"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2026.3657004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3657004","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/A5016706633","display_name":"Shunan Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunan Zhou","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0003-4986-7852","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125661326","display_name":"Zhen Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Liu","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0001-9439-2927","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6501-656X","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ming Zhao","orcid":"https://orcid.org/0009-0003-6629-5497"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Zhao","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0003-6629-5497","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":null,"display_name":"Pinmou Li","orcid":"https://orcid.org/0009-0008-8815-7227"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pinmou Li","raw_affiliation_strings":["School of Future Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0008-8815-7227","affiliations":[{"raw_affiliation_string":"School of Future Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12934855,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"7","first_page":"10618","last_page":"10630"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.7555999755859375,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.7555999755859375,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10879","display_name":"Robotic Locomotion and Control","score":0.11990000307559967,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.03020000085234642,"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":0.6660000085830688},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5879999995231628},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5289000272750854},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4668999910354614},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4487999975681305},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44749999046325684},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4074000120162964},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3971000015735626}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6660000085830688},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5879999995231628},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5289000272750854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4864000082015991},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4668999910354614},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4487999975681305},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44749999046325684},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4074000120162964},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39559999108314514},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.35929998755455017},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3019999861717224},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.296999990940094},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.29249998927116394},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.29109999537467957},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.2856999933719635},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C65424074","wikidata":"https://www.wikidata.org/wiki/Q2221605","display_name":"Soft landing","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2026.3657004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3657004","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":[],"awards":[{"id":"https://openalex.org/G6266899638","display_name":null,"funder_award_id":"U23A20614","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Under":[0],"conditions":[1,245],"of":[2,12,66,163,177,219,264,274,304,314,338],"low":[3],"gravity":[4,293],"and":[5,26,62,107,222,266,276,294],"a":[6,31,99,133,150,284],"rough":[7],"lunar":[8,14,21,48,68,74,243,292],"surface,":[9,22,75],"the":[10,13,20,54,59,63,67,73,82,112,140,157,161,175,178,187,197,201,210,235,251,259,271,302,305,315,323,336],"wheels":[11],"rover":[15,49,69],"may":[16],"lose":[17],"contact":[18],"with":[19,149],"compromising":[23],"vehicle":[24],"control":[25,101,115,158,199,203,237,253,261,307,316],"safety.":[27],"This":[28,212],"article":[29],"proposes":[30],"dual-objective":[32,100,202,236,306],"cooperative":[33],"static":[34,144,324],"output-feedback":[35,145,325],"H\u221e":[36,146,326],"controller":[37,179,327],"under":[38,242,279,290],"interest":[39],"bandwidth":[40,162,337],"to":[41,81,86,89,155,196,216,228,258,312],"minimize":[42],"wheel":[43,106,124,221],"ground":[44,90,118],"clearance":[45],"(WGC)":[46],"for":[47,117],"active":[50,275],"suspensions.":[51],"By":[52],"analyzing":[53],"suspension":[55,129],"spring":[56],"preload":[57],"at":[58],"initial":[60],"position":[61],"movement":[64],"behavior":[65],"after":[70],"it":[71,191],"leaves":[72],"we":[76,96],"identify":[77],"critical":[78],"factors":[79,185],"contributing":[80],"rover\u2019s":[83],"increased":[84],"susceptibility":[85],"liftoff":[87],"compared":[88,195,257],"vehicles.":[91],"Building":[92],"upon":[93],"this":[94],"analysis,":[95],"innovatively":[97],"adopt":[98],"framework":[102],"that":[103,120,234,301,313],"coordinates":[104],"both":[105,220],"body":[108,223],"vertical":[109],"velocities,":[110],"replacing":[111],"traditional":[113],"single-objective":[114,198],"theory":[116],"vehicles":[119],"focuses":[121],"solely":[122],"on":[123],"dynamic":[125,130,188],"deflection":[126,131],"(WDD).":[127],"Furthermore,":[128,322],"(SDD),":[132],"readily":[134],"measurable":[135],"variable,":[136],"is":[137,153,172,180,192,214,239,287,309],"selected":[138],"as":[139],"measurement":[141],"variable.":[142],"A":[143,165],"controller,":[147],"equipped":[148],"band-pass":[151],"filter,":[152],"designed":[154],"concentrate":[156],"effect":[159],"within":[160,335],"interest.":[164,339],"two-degree-of-freedom":[166],"(2-DOF)":[167],"quarter-vehicle":[168,285],"multibody":[169],"dynamics":[170],"model":[171],"developed.":[173],"First,":[174],"robustness":[176],"demonstrated":[181],"by":[182,247],"incorporating":[183],"nonlinear":[184],"into":[186],"model.":[189],"Second,":[190],"shown":[193],"that,":[194],"strategy,":[200],"strategy":[204,238,308,317],"provides":[205],"significant":[206],"advantages":[207],"in":[208,226,262,332],"controlling":[209],"WGC.":[211,229,267],"improvement":[213],"attributed":[215],"its":[217],"consideration":[218],"motion":[224],"characteristics":[225],"relation":[227],"Further":[230],"comparative":[231],"analysis":[232],"demonstrates":[233],"more":[240],"effective":[241,331],"surface":[244],"characterized":[246],"high":[248],"ruggedness.":[249],"Additionally,":[250],"filtered":[252],"exhibits":[254],"superior":[255,311],"performance":[256,303],"unfiltered":[260],"terms":[263],"SDD":[265],"We":[268],"further":[269],"compare":[270],"grounding":[272],"boundaries":[273],"passive":[277],"suspensions":[278],"continuous":[280],"harmonic":[281],"excitation.":[282],"Finally,":[283],"test":[286],"conducted":[288],"experimentally":[289],"simulated":[291],"rugged":[295],"terrain":[296],"conditions.":[297],"The":[298],"results":[299],"confirm":[300],"significantly":[310],"targeting":[318],"only":[319],"WDD":[320],"regulation.":[321],"has":[328],"been":[329],"proven":[330],"reducing":[333],"WGC":[334]},"counts_by_year":[],"updated_date":"2026-06-03T06:16:58.514037","created_date":"2026-02-12T00:00:00"}
