{"id":"https://openalex.org/W4405850870","doi":"https://doi.org/10.1142/s2301385025430034","title":"Predictive Motion Control Considering Body Attitude Constraints for Four in-Wheel Motor Vehicles","display_name":"Predictive Motion Control Considering Body Attitude Constraints for Four in-Wheel Motor Vehicles","publication_year":2024,"publication_date":"2024-12-27","ids":{"openalex":"https://openalex.org/W4405850870","doi":"https://doi.org/10.1142/s2301385025430034"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385025430034","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025430034","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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/A5063286550","display_name":"Hongqing Chu","orcid":"https://orcid.org/0000-0002-8015-9788"},"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":true,"raw_author_name":"Hongqing Chu","raw_affiliation_strings":["New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072234406","display_name":"Zongxuan Li","orcid":"https://orcid.org/0000-0001-5239-6789"},"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":"Zongxuan Li","raw_affiliation_strings":["New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109324070","display_name":"Qiao Kang","orcid":null},"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":"Qiao Kang","raw_affiliation_strings":["New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760861","display_name":"Xiaoyan Liu","orcid":"https://orcid.org/0009-0009-7035-5177"},"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":"Xiaoyan Liu","raw_affiliation_strings":["Dongfeng Motor Corporation, Wuhan, Hubei 430000, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"Dongfeng Motor Corporation, Wuhan, Hubei 430000, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I4210158664"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064212745","display_name":"Bingzhao Gao","orcid":"https://orcid.org/0000-0001-5155-7835"},"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":"Bingzhao Gao","raw_affiliation_strings":["New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"New Energy Vehicle Engineering Center, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100420388","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0001-7799-4961"},"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":["College of Electronic and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Tongji University, Shanghai 201804, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5063286550"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26518061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"06","first_page":"1713","last_page":"1728"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9940999746322632,"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":0.9940999746322632,"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/T10524","display_name":"Traffic control and management","score":0.9861000180244446,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9455999732017517,"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","display_name":"Control (management)","score":0.6254910230636597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5772224068641663},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.4726625680923462},{"id":"https://openalex.org/keywords/electronic-circuit","display_name":"Electronic circuit","score":0.4380660057067871},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4356517791748047},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39268386363983154},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.33489716053009033},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.32029932737350464},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22748643159866333},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.19429117441177368},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1567426323890686}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6254910230636597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5772224068641663},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.4726625680923462},{"id":"https://openalex.org/C134146338","wikidata":"https://www.wikidata.org/wiki/Q1815901","display_name":"Electronic circuit","level":2,"score":0.4380660057067871},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4356517791748047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39268386363983154},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.33489716053009033},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.32029932737350464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22748643159866333},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19429117441177368},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1567426323890686}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385025430034","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025430034","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1978384939","https://openalex.org/W2027805025","https://openalex.org/W2048735425","https://openalex.org/W2060342833","https://openalex.org/W2515319037","https://openalex.org/W2519926870","https://openalex.org/W2536345096","https://openalex.org/W2763353023","https://openalex.org/W2767375699","https://openalex.org/W2809220771","https://openalex.org/W2899551547","https://openalex.org/W2954115742","https://openalex.org/W3173670838","https://openalex.org/W3191494817","https://openalex.org/W4285197433","https://openalex.org/W4300426738","https://openalex.org/W4309224604","https://openalex.org/W4319298442","https://openalex.org/W4366967327","https://openalex.org/W4386994221","https://openalex.org/W4390692275","https://openalex.org/W4390783054","https://openalex.org/W4392940931","https://openalex.org/W4394896908","https://openalex.org/W4401414023","https://openalex.org/W4401452490"],"related_works":["https://openalex.org/W2898860390","https://openalex.org/W2118489026","https://openalex.org/W2237025049","https://openalex.org/W2734340365","https://openalex.org/W4386105384","https://openalex.org/W2400737216","https://openalex.org/W4386105441","https://openalex.org/W4377236356","https://openalex.org/W4387655846","https://openalex.org/W2395919370"],"abstract_inverted_index":{"In-wheel":[0],"motor":[1,39],"distributed-drive":[2],"electric":[3],"vehicles":[4],"have":[5],"the":[6,14,32,37,80,95,109,118,131,135,141,160],"unique":[7],"characteristic":[8],"of":[9,16,36,97,117,134],"being":[10],"able":[11],"to":[12,25,46,107],"control":[13,71],"torque":[15,35,111],"each":[17,113],"wheel":[18],"independently":[19],"and":[20,73,89,100,148,154],"accurately.":[21],"However,":[22],"when":[23,157],"connected":[24],"a":[26,101,124],"suspension":[27],"system":[28],"with":[29,159],"anti-pitch":[30],"geometry,":[31],"resulting":[33],"output":[34],"in-wheel":[38],"can":[40],"cause":[41],"significant":[42,132],"vertical":[43,90],"forces,":[44],"leading":[45],"body":[47,74,98],"attitude":[48,75],"oscillations":[49],"during":[50],"driving":[51,82],"or":[52],"braking.":[53],"To":[54],"address":[55],"this":[56,58],"issue,":[57],"study":[59],"proposes":[60],"an":[61],"innovative":[62],"predictive":[63,70,137],"motion":[64,138],"controller":[65,78,120,139],"that":[66],"combines":[67],"learning":[68],"model":[69],"(MPC)":[72],"control.":[76],"This":[77],"determines":[79],"total":[81],"torque,":[83],"desired":[84],"roll":[85],"moment,":[86,88],"pitch":[87],"force,":[91],"taking":[92],"into":[93],"consideration":[94],"constraints":[96],"attitude,":[99],"transfer":[102],"matrix":[103],"is":[104,121],"then":[105],"utilized":[106],"calculate":[108],"required":[110],"for":[112],"wheel.":[114],"The":[115,128],"effectiveness":[116],"proposed":[119,136],"validated":[122],"through":[123],"Simulink/Modelon":[125],"co-simulation":[126],"test.":[127],"results":[129],"demonstrate":[130],"superiority":[133],"over":[140],"default":[142],"controller.":[143,163],"Specifically,":[144],"it":[145],"enhances":[146],"speed":[147],"trajectory":[149],"tracking":[150],"accuracy":[151],"by":[152],"2.3%":[153],"34.2%,":[155],"respectively,":[156],"compared":[158],"nonlinear":[161],"MPC":[162]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}