{"id":"https://openalex.org/W3000909096","doi":"https://doi.org/10.1109/tvt.2019.2950219","title":"An Adaptive Backstepping Sliding Mode Controller to Improve Vehicle Maneuverability and Stability via Torque Vectoring Control","display_name":"An Adaptive Backstepping Sliding Mode Controller to Improve Vehicle Maneuverability and Stability via Torque Vectoring Control","publication_year":2020,"publication_date":"2020-01-21","ids":{"openalex":"https://openalex.org/W3000909096","doi":"https://doi.org/10.1109/tvt.2019.2950219","mag":"3000909096"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2019.2950219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2950219","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5044211780","display_name":"Lin Zhang","orcid":"https://orcid.org/0000-0002-9358-0264"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhang","raw_affiliation_strings":["Postdoctoral Station of Mechanical Engineering, School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9358-0264","affiliations":[{"raw_affiliation_string":"Postdoctoral Station of Mechanical Engineering, School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634116","display_name":"Haitao Ding","orcid":"https://orcid.org/0000-0003-2729-2907"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Ding","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-2729-2907","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076249711","display_name":"Jianpeng Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158664","display_name":"Dongfeng Motor (China)","ror":"https://ror.org/049j15k39","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210158664"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianpeng Shi","raw_affiliation_strings":["Dongfeng Motor Corporation, Wuhan Economic and Technological Development Zone, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dongfeng Motor Corporation, Wuhan Economic and Technological Development Zone, Wuhan, China","institution_ids":["https://openalex.org/I4210158664"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003126186","display_name":"Yanjun Huang","orcid":"https://orcid.org/0000-0003-3133-8031"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yanjun Huang","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074996561","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0002-1724-8649"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Chen","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1724-8649","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101506381","display_name":"Konghui Guo","orcid":"https://orcid.org/0000-0001-5525-9667"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Konghui Guo","raw_affiliation_strings":["KH Automotive Technologies Co, Ltd, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KH Automotive Technologies Co, Ltd, Changchun, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100624205","display_name":"Li Qin","orcid":"https://orcid.org/0000-0001-6947-8684"},"institutions":[{"id":"https://openalex.org/I4210113138","display_name":"Guangzhou Automobile Group (China)","ror":"https://ror.org/026fzn952","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210113138"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qin Li","raw_affiliation_strings":["Intelligent Driving Department, GAC Automotive Research & Development Center, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Driving Department, GAC Automotive Research & Development Center, Guangzhou, China","institution_ids":["https://openalex.org/I4210113138"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.4368,"has_fulltext":false,"cited_by_count":127,"citation_normalized_percentile":{"value":0.97786209,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"69","issue":"3","first_page":"2598","last_page":"2612"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"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":1.0,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9944000244140625,"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":0.7986801862716675},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7184879183769226},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6781121492385864},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5202335119247437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46919795870780945},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43960097432136536},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43430477380752563},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42838403582572937},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.42159438133239746},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4194273352622986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4124809503555298},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.36803340911865234},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.28132981061935425},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16690418124198914},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.13996917009353638},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11082813143730164},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06392624974250793}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7986801862716675},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7184879183769226},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6781121492385864},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5202335119247437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46919795870780945},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43960097432136536},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43430477380752563},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42838403582572937},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.42159438133239746},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4194273352622986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4124809503555298},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.36803340911865234},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28132981061935425},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16690418124198914},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.13996917009353638},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11082813143730164},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06392624974250793},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2019.2950219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2950219","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1455450136","display_name":null,"funder_award_id":"61790560","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2094540452","display_name":null,"funder_award_id":"2017YFB0103602","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":53,"referenced_works":["https://openalex.org/W266236073","https://openalex.org/W587752234","https://openalex.org/W1532986555","https://openalex.org/W1537842733","https://openalex.org/W1852839641","https://openalex.org/W1864870865","https://openalex.org/W1974945677","https://openalex.org/W1983509615","https://openalex.org/W1988837728","https://openalex.org/W1998852648","https://openalex.org/W2019954549","https://openalex.org/W2030064879","https://openalex.org/W2039294758","https://openalex.org/W2056756216","https://openalex.org/W2061593155","https://openalex.org/W2062430542","https://openalex.org/W2069833711","https://openalex.org/W2086045629","https://openalex.org/W2090123982","https://openalex.org/W2093663262","https://openalex.org/W2105401779","https://openalex.org/W2122250135","https://openalex.org/W2128737020","https://openalex.org/W2145175815","https://openalex.org/W2145363186","https://openalex.org/W2163012650","https://openalex.org/W2212957503","https://openalex.org/W2216864602","https://openalex.org/W2257540711","https://openalex.org/W2280175542","https://openalex.org/W2321703636","https://openalex.org/W2344498459","https://openalex.org/W2344981321","https://openalex.org/W2427851112","https://openalex.org/W2492766244","https://openalex.org/W2516716877","https://openalex.org/W2536345096","https://openalex.org/W2546702320","https://openalex.org/W2552434828","https://openalex.org/W2561119925","https://openalex.org/W2595738348","https://openalex.org/W2599591954","https://openalex.org/W2601066895","https://openalex.org/W2604725597","https://openalex.org/W2808537182","https://openalex.org/W2885610882","https://openalex.org/W2888648740","https://openalex.org/W2898110491","https://openalex.org/W2921414490","https://openalex.org/W3023303718","https://openalex.org/W3102300046","https://openalex.org/W3138110152","https://openalex.org/W6983006404"],"related_works":["https://openalex.org/W2036311230","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2110982267","https://openalex.org/W2063351494","https://openalex.org/W1562326332"],"abstract_inverted_index":{"To":[0,88],"improve":[1],"the":[2,12,42,60,64,70,73,80,104,109,114,118,125,139,153,177,180,217],"maneuverability":[3],"and":[4,9,26,162,171,192,200,226],"stability":[5],"of":[6,14,72,117,152,179,216],"a":[7,22,35],"vehicle":[8,19,181,198],"fully":[10],"leverage":[11],"advantages":[13],"torque":[15],"vectoring":[16],"technology":[17],"in":[18,45,76,86,138,164],"dynamics":[20],"control,":[21],"finite-time":[23],"yaw":[24],"rate":[25],"sideslip":[27],"angle":[28],"tracking":[29],"controller":[30,40,67,101,141],"is":[31,84,142,158],"proposed":[32,156],"by":[33,107,144,187],"combining":[34],"second-order":[36,97],"sliding":[37,54,98,119],"mode":[38,55,99,120],"(SOSM)":[39],"with":[41,160,224],"backstepping":[43,105],"method":[44,106],"this":[46,92],"paper.":[47],"However,":[48],"existing":[49],"research":[50],"indicates":[51],"that":[52,124,176],"first-order":[53],"(FOSM)":[56],"control":[57,127,213],"suffers":[58],"from":[59],"chattering":[61],"problem,":[62],"while":[63],"traditional":[65],"SOSM":[66,163,193,225],"requires":[68,211],"knowing":[69,149],"bound":[71],"uncertain":[74],"term":[75,112],"advance":[77],"to":[78,113,167,197,206],"obtain":[79],"switching":[81,111,136],"gain,":[82],"which":[83,122],"difficult":[85],"practice.":[87],"address":[89],"these":[90],"problems,":[91],"paper":[93],"proposes":[94],"an":[95,132,145],"adaptive":[96,146,218],"(ASOSM)":[100],"based":[102],"on":[103],"adding":[108],"high-frequency":[110],"first":[115],"derivative":[116],"variable,":[121],"implies":[123],"actual":[126],"can":[128,184],"be":[129,185],"acquired":[130],"after":[131],"integration":[133],"process.":[134],"The":[135,155],"gain":[137],"ASOSM":[140,191,210],"obtained":[143],"algorithm":[147,157],"without":[148],"any":[150],"information":[151],"uncertainty.":[154],"compared":[159],"FOSM":[161],"different":[165],"scenarios":[166],"demonstrate":[168],"its":[169],"applicability":[170],"robustness.":[172],"Simulation":[173],"results":[174],"show":[175],"bandwidth":[178],"transient":[182],"response":[183],"improved":[186],"21%.":[188],"In":[189],"addition,":[190],"controllers":[194],"are":[195],"insensitive":[196],"mass":[199],"tire":[201],"type,":[202],"implying":[203],"their":[204],"robustness":[205],"such":[207],"disturbances.":[208],"Furthermore,":[209],"less":[212],"action":[214],"because":[215],"law":[219],"when":[220],"it":[221],"performs":[222],"similarly":[223],"FOSM.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-25T08:15:23.626066","created_date":"2025-10-10T00:00:00"}
