{"id":"https://openalex.org/W4392173792","doi":"https://doi.org/10.1109/tvt.2024.3369923","title":"Hierarchical Coupling Motion Control of Distributed Vehicle Considering Vehicle Posture","display_name":"Hierarchical Coupling Motion Control of Distributed Vehicle Considering Vehicle Posture","publication_year":2024,"publication_date":"2024-02-26","ids":{"openalex":"https://openalex.org/W4392173792","doi":"https://doi.org/10.1109/tvt.2024.3369923"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3369923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3369923","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/A5101865859","display_name":"Guoying Chen","orcid":"https://orcid.org/0000-0003-0940-1903"},"institutions":[{"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"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guoying Chen","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China"],"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"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114585297","display_name":"Jun Yao","orcid":"https://orcid.org/0000-0003-3847-3797"},"institutions":[{"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"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Yao","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China"],"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"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078723950","display_name":"Hongyu Hu","orcid":"https://orcid.org/0000-0001-8083-6403"},"institutions":[{"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"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Hu","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China"],"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"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022668758","display_name":"Zhenhai Gao","orcid":"https://orcid.org/0000-0002-4623-3956"},"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":"Zhenhai Gao","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China"],"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"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078194009","display_name":"Min Hua","orcid":"https://orcid.org/0000-0002-2564-7180"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Min Hua","raw_affiliation_strings":["School of Engineering, University of Birmingham, Birmingham, U.K","School of Engineering, University of Birmingham, Birmingham, B15 2TT, U.K"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Engineering, University of Birmingham, Birmingham, B15 2TT, U.K","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101865859"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"],"apc_list":null,"apc_paid":null,"fwci":2.1369,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.86098475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"73","issue":"8","first_page":"10899","last_page":"10915"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9940999746322632,"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/T10524","display_name":"Traffic control and management","score":0.9735000133514404,"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/motion-control","display_name":"Motion control","score":0.5501091480255127},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5136063098907471},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5134090185165405},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4400622248649597},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4307229816913605},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40951088070869446},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.39876309037208557},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3722326159477234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.370332807302475},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15933704376220703},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11132171750068665},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11106893420219421}],"concepts":[{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5501091480255127},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5136063098907471},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5134090185165405},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4400622248649597},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4307229816913605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40951088070869446},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.39876309037208557},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3722326159477234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.370332807302475},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15933704376220703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11132171750068665},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11106893420219421}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2024.3369923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3369923","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"},{"id":"pmh:oai:pure.atira.dk:publications/5aacc4c2-dc03-402a-aa23-e59582b4318a","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/5aacc4c2-dc03-402a-aa23-e59582b4318a","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Chen, G, Yao, J, Hu, H, Gao, Z & Hua, M 2024, 'Hierarchical Coupling Motion Control of Distributed Vehicle Considering Vehicle Posture', IEEE Transactions on Vehicular Technology, vol. 73, no. 8, pp. 10899-10915. https://doi.org/10.1109/TVT.2024.3369923","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1656390188","https://openalex.org/W1953870485","https://openalex.org/W1973411506","https://openalex.org/W1979317847","https://openalex.org/W2000478733","https://openalex.org/W2023136445","https://openalex.org/W2027805025","https://openalex.org/W2035401023","https://openalex.org/W2040186597","https://openalex.org/W2086765794","https://openalex.org/W2091537908","https://openalex.org/W2123791885","https://openalex.org/W2174765655","https://openalex.org/W2323597089","https://openalex.org/W2613908146","https://openalex.org/W2762441957","https://openalex.org/W2780107358","https://openalex.org/W2791190216","https://openalex.org/W2902212756","https://openalex.org/W2909668839","https://openalex.org/W2910708419","https://openalex.org/W2946231253","https://openalex.org/W3008218687","https://openalex.org/W3010243089","https://openalex.org/W3011957323","https://openalex.org/W3017065564","https://openalex.org/W3102306960","https://openalex.org/W3107809069","https://openalex.org/W3114622139","https://openalex.org/W3122969078","https://openalex.org/W3167065967","https://openalex.org/W3191494817","https://openalex.org/W3193423642","https://openalex.org/W4226371358","https://openalex.org/W4232413261"],"related_works":["https://openalex.org/W2214501612","https://openalex.org/W2044900919","https://openalex.org/W2673944387","https://openalex.org/W1576487518","https://openalex.org/W4253156269","https://openalex.org/W3217556520","https://openalex.org/W1980072851","https://openalex.org/W2371387152","https://openalex.org/W2023971465","https://openalex.org/W2161599466"],"abstract_inverted_index":{"Due":[0],"to":[1,131,172,224,235],"the":[2,5,16,41,63,70,74,96,100,107,114,122,128,133,145,152,156,160,191,197,205,211,216,220,227,232,237],"over-actuated":[3],"characteristics,":[4],"distri-buted":[6],"vehicle":[7,65,67,123,147,218],"has":[8],"more":[9,21],"potential":[10],"for":[11,23,62],"mobility":[12],"and":[13,44,49,110,143,183,214,241],"controllability":[14],"than":[15],"traditional":[17,157],"vehicle,":[18],"making":[19],"it":[20],"suitable":[22],"autonomous":[24],"driving.":[25],"Motion":[26],"control":[27,60,92,111,140,215],"of":[28,35,113,141,155,239],"distributed":[29,64,146,217],"vehicles":[30],"still":[31],"faces":[32],"significant":[33],"challenges":[34],"adjusting":[36],"longitudinal":[37,212],"speed":[38,213],"while":[39,230],"tracking":[40,231],"reference":[42,102,134,233],"trajectory":[43],"ensuring":[45],"stability":[46,153],"under":[47],"complex":[48,182],"changeable":[50],"driving":[51],"maneuvers.":[52],"This":[53],"paper":[54],"proposes":[55],"a":[56,77,163],"hierarchical":[57],"coupling":[58,78,119],"motion":[59,79,120,142],"method":[61],"considering":[66],"posture":[68,124,234],"at":[69,219],"handling":[71],"limit.":[72],"In":[73,159],"motion-following":[75],"layer,":[76,162],"controller":[80,193,207],"is":[81,104,125,170,194],"presented":[82],"based":[83],"on":[84,181,196],"variable-time":[85],"steps":[86],"discrete":[87],"linear":[88],"time-varying":[89],"model":[90,98],"predictive":[91,97],"(VTDLTV-MPC).":[93],"To":[94],"improve":[95],"accuracy,":[99],"linearization":[101],"point":[103],"updated":[105],"with":[106],"predicted":[108],"state":[109],"sequence":[112],"last":[115],"moment.":[116],"While":[117],"performing":[118],"control,":[121],"coordinated":[126,139],"in":[127],"heading":[129],"deviation":[130],"enable":[132],"sideslip":[135],"angle":[136],"tracking.":[137],"By":[138],"posture,":[144],"can":[148,208],"be":[149],"handled":[150],"outside":[151],"region":[154],"vehicle.":[158],"executive":[161],"tire":[164,174,185],"parameter":[165],"online":[166],"adaptive":[167],"module":[168],"(TPOAM)":[169],"proposed":[171,192,206],"update":[173],"parameters":[175],"online,":[176],"which":[177],"does":[178],"not":[179],"rely":[180],"multi-parameter":[184],"models":[186],"or":[187],"look-up":[188],"tables.":[189],"Finally,":[190],"verified":[195],"hardware-in-the-loop":[198],"(HIL)":[199],"platform.":[200],"The":[201],"results":[202],"show":[203],"that":[204],"adaptively":[209],"adjust":[210],"friction":[221],"circle":[222],"boundary":[223],"fully":[225],"utilize":[226],"chassis":[228],"performance,":[229],"realize":[236],"decoupling":[238],"yaw":[240],"lateral":[242],"motions.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}