{"id":"https://openalex.org/W4391092669","doi":"https://doi.org/10.1109/tiv.2024.3356608","title":"Phase Portrait Analysis and Drifting Control of Unmanned Tracked Vehicles","display_name":"Phase Portrait Analysis and Drifting Control of Unmanned Tracked Vehicles","publication_year":2024,"publication_date":"2024-01-22","ids":{"openalex":"https://openalex.org/W4391092669","doi":"https://doi.org/10.1109/tiv.2024.3356608"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3356608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3356608","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","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/A5021395113","display_name":"Haotian Dong","orcid":"https://orcid.org/0000-0002-4438-9332"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haotian Dong","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4438-9332","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061103543","display_name":"Huilong Yu","orcid":"https://orcid.org/0000-0003-4287-8332"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huilong Yu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4287-8332","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102879296","display_name":"Junqiang Xi","orcid":"https://orcid.org/0000-0001-8607-4542"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junqiang Xi","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8607-4542","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.7046,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.82949709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"9","first_page":"5650","last_page":"5664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9854000210762024,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9854000210762024,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9603999853134155,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9591000080108643,"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/portrait","display_name":"Portrait","score":0.7245224714279175},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.49148523807525635},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.35332101583480835},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.2902098298072815},{"id":"https://openalex.org/keywords/art-history","display_name":"Art history","score":0.20841798186302185},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20032596588134766},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1635814607143402}],"concepts":[{"id":"https://openalex.org/C162462552","wikidata":"https://www.wikidata.org/wiki/Q134307","display_name":"Portrait","level":2,"score":0.7245224714279175},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.49148523807525635},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.35332101583480835},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.2902098298072815},{"id":"https://openalex.org/C52119013","wikidata":"https://www.wikidata.org/wiki/Q50637","display_name":"Art history","level":1,"score":0.20841798186302185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20032596588134766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1635814607143402},{"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/tiv.2024.3356608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3356608","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2017555642","https://openalex.org/W2024354038","https://openalex.org/W2025174813","https://openalex.org/W2032335793","https://openalex.org/W2079491245","https://openalex.org/W2085260995","https://openalex.org/W2166446174","https://openalex.org/W2168236026","https://openalex.org/W2412191689","https://openalex.org/W2744616955","https://openalex.org/W2799764225","https://openalex.org/W2803032348","https://openalex.org/W2950430177","https://openalex.org/W2981761302","https://openalex.org/W2989820567","https://openalex.org/W3026332950","https://openalex.org/W3099188673","https://openalex.org/W3113278318","https://openalex.org/W3119005932","https://openalex.org/W3129348882","https://openalex.org/W4285209266","https://openalex.org/W4308542656","https://openalex.org/W4310344260","https://openalex.org/W4311215087","https://openalex.org/W4313886728","https://openalex.org/W4319456385","https://openalex.org/W4360770860"],"related_works":["https://openalex.org/W3169920643","https://openalex.org/W2360001249","https://openalex.org/W594086971","https://openalex.org/W4383739071","https://openalex.org/W2031725242","https://openalex.org/W2315550989","https://openalex.org/W2141684174","https://openalex.org/W27177127","https://openalex.org/W2358709380","https://openalex.org/W2950297322"],"abstract_inverted_index":{"For":[0],"unmanned":[1],"tracked":[2],"vehicles":[3],"(UTVs),":[4],"drifting":[5,102,182,202,235],"can":[6,122,166],"generate":[7],"the":[8,24,44,47,56,76,82,107,128,144,157,194,199,222,225,230,233],"maximum":[9],"centripetal":[10],"acceleration":[11],"to":[12,23,186],"complete":[13],"challenging":[14],"tasks,":[15],"such":[16],"as":[17],"high-speed":[18,200],"obstacle":[19],"avoidance.":[20],"However,":[21],"due":[22],"open-loop":[25],"instability":[26],"of":[27,46,58,94,109,159,206,216,224,232],"vehicle":[28],"motion":[29,36],"during":[30],"drifting,":[31,41],"existing":[32],"research":[33],"on":[34,39,65,75],"UTV":[35,50,85,181,209,220],"control":[37,191],"focuses":[38],"avoiding":[40],"thereby":[42],"limiting":[43],"maneuverability":[45],"UTV.":[48],"A":[49],"dynamics":[51],"model":[52,86,210],"is":[53,87,141,154,177,184],"developed,":[54],"considering":[55],"effects":[57],"acceleration,":[59],"track":[60,63,151,160,187],"tension":[61],"and":[62,67,100,127,190,213,229],"slide":[64],"contact":[66],"shear":[68],"forces.":[69],"Model":[70],"parameters":[71],"are":[72,103],"identified":[73],"based":[74],"moving":[77],"horizon":[78],"estimation":[79],"method.":[80],"Subsequently,":[81],"intricate":[83],"nonlinear":[84],"analyzed":[88],"utilizing":[89],"phase":[90,139,175],"portraits.":[91],"Three":[92],"types":[93],"equilibria":[95],"for":[96,112,133],"normal":[97,113,134],"driving,":[98],"clockwise":[99],"anticlockwise":[101],"discovered,":[104],"along":[105],"with":[106],"region":[108,130,132],"attraction":[110],"(RoA)":[111],"driving":[114],"determined":[115],"by":[116],"these":[117],"equilibria.":[118],"An":[119,163],"algorithm,":[120,164],"which":[121],"simultaneously":[123],"solve":[124,167],"equilibrium":[125,168,171,196],"curves":[126],"RoA":[129],"(stable":[131],"driving)":[135],"in":[136,150,173,211],"three-dimensional":[137],"(3D)":[138],"space,":[140,176],"proposed.":[142],"Additionally,":[143],"saddle-node":[145],"bifurcation":[146],"resulting":[147],"from":[148,193],"variations":[149],"speed":[152,161],"differences":[153],"identified,":[155],"determining":[156],"range":[158],"differences.":[162],"that":[165],"surfaces":[169],"(the":[170],"set)":[172],"3D":[174],"presented.":[178],"Then,":[179],"a":[180,208,218],"controller":[183],"designed":[185],"reference":[188],"states":[189],"inputs":[192],"solved":[195],"set,":[197],"completing":[198],"continuous":[201],"motion.":[203],"Simulation":[204],"results":[205,215],"maneuvering":[207,217],"RecurDyn":[212],"experimental":[214],"scaled":[219],"demonstrate":[221],"fidelity":[223],"proposed":[226],"equilibrium-solving":[227],"method":[228],"effectiveness":[231],"devised":[234],"controller.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
