{"id":"https://openalex.org/W2157700661","doi":"https://doi.org/10.1155/2014/217875","title":"Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control","display_name":"Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2157700661","doi":"https://doi.org/10.1155/2014/217875","mag":"2157700661"},"language":"en","primary_location":{"id":"doi:10.1155/2014/217875","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/217875","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/217875.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2014/217875.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075217125","display_name":"Daxiong Ji","orcid":"https://orcid.org/0000-0003-4800-5807"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Daxiong Ji","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414686","display_name":"Jian Liu","orcid":"https://orcid.org/0000-0002-5968-4318"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Liu","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101751907","display_name":"Hongyu Zhao","orcid":"https://orcid.org/0000-0001-9898-0374"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101683697","display_name":"Yiqun Wang","orcid":"https://orcid.org/0000-0001-9219-9181"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqun Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075217125"],"corresponding_institution_ids":["https://openalex.org/I142078773"],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":900,"currency":"USD","value_usd":900},"fwci":0.0,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.19168134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2014","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.7421953678131104},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7390613555908203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7147128582000732},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6676474809646606},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6068472862243652},{"id":"https://openalex.org/keywords/multivariable-calculus","display_name":"Multivariable calculus","score":0.5781942009925842},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.545131266117096},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4815254807472229},{"id":"https://openalex.org/keywords/space-vehicle","display_name":"Space vehicle","score":0.46976161003112793},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4448634088039398},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4204273819923401},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41100606322288513},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28548771142959595},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.21425795555114746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2044399082660675},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1550276279449463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10607615113258362},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07949492335319519}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7421953678131104},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7390613555908203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7147128582000732},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6676474809646606},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6068472862243652},{"id":"https://openalex.org/C117312493","wikidata":"https://www.wikidata.org/wiki/Q2035437","display_name":"Multivariable calculus","level":2,"score":0.5781942009925842},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.545131266117096},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4815254807472229},{"id":"https://openalex.org/C2776888684","wikidata":"https://www.wikidata.org/wiki/Q11449356","display_name":"Space vehicle","level":2,"score":0.46976161003112793},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4448634088039398},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4204273819923401},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41100606322288513},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28548771142959595},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.21425795555114746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2044399082660675},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1550276279449463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10607615113258362},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07949492335319519},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2014/217875","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/217875","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/217875.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:db48660eb3a64f988e998338ae2f01fa","is_oa":true,"landing_page_url":"https://doaj.org/article/db48660eb3a64f988e998338ae2f01fa","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2014 (2014)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2014/217875","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/217875","pdf_url":"https://downloads.hindawi.com/journals/jr/2014/217875.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2582306860","display_name":null,"funder_award_id":"2011AA09A102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4285020235","display_name":null,"funder_award_id":"51309215","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"},{"id":"https://openalex.org/F4320335773","display_name":"National High-tech Research and Development Program","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2157700661.pdf"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W130364663","https://openalex.org/W1887006513","https://openalex.org/W1977808185","https://openalex.org/W2002675616","https://openalex.org/W2020105238","https://openalex.org/W2038730444","https://openalex.org/W2038755353","https://openalex.org/W2064052574","https://openalex.org/W2098135394","https://openalex.org/W2098452091","https://openalex.org/W2101245530","https://openalex.org/W2117360554","https://openalex.org/W2118081656","https://openalex.org/W2120851686","https://openalex.org/W2125327059","https://openalex.org/W2126607016","https://openalex.org/W2128592712","https://openalex.org/W2129992565","https://openalex.org/W2133754447","https://openalex.org/W2142577696","https://openalex.org/W2154273141","https://openalex.org/W2164224170"],"related_works":["https://openalex.org/W1576377477","https://openalex.org/W2721687755","https://openalex.org/W2224575301","https://openalex.org/W418212511","https://openalex.org/W2388146630","https://openalex.org/W2086932047","https://openalex.org/W587013945","https://openalex.org/W1964208669","https://openalex.org/W2112363989","https://openalex.org/W13811253"],"abstract_inverted_index":{"A":[0],"solution":[1],"to":[2,56,62],"the":[3,12,52,73,77,87,90,101,110],"path":[4,35],"following":[5,36],"problem":[6],"for":[7],"underactuated":[8],"autonomous":[9],"vehicles":[10,27],"in":[11,29,86,104],"presence":[13],"of":[14,26,51,76,89],"possibly":[15],"large":[16],"modeling":[17,64],"parametric":[18,63],"uncertainty":[19],"is":[20,70],"proposed.":[21],"For":[22],"a":[23,34,57],"general":[24],"class":[25],"moving":[28],"2D":[30,105],"space,":[31],"we":[32],"demonstrated":[33],"control":[37,92,111],"law":[38],"based":[39],"on":[40],"multiple":[41],"variable":[42],"sliding":[43,79],"mode":[44,80],"that":[45,94,109],"yields":[46],"global":[47],"boundedness":[48],"and":[49,60],"convergence":[50],"position":[53],"tracking":[54],"error":[55,67],"small":[58],"neighborhood":[59],"robustness":[61],"uncertainty.":[65],"An":[66],"integration":[68],"element":[69],"added":[71],"into":[72],"\u201ctanh\u201d":[74],"function":[75],"traditional":[78],"control.":[81],"We":[82],"illustrated":[83],"our":[84],"results":[85],"context":[88],"vehicle":[91,97],"applications":[93],"an":[95],"underwater":[96],"moves":[98],"along":[99],"with":[100],"desired":[102],"paths":[103],"space.":[106],"Simulations":[107],"show":[108],"objectives":[112],"were":[113],"accomplished.":[114]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
