{"id":"https://openalex.org/W2130101380","doi":"https://doi.org/10.1177/0959651814525147","title":"Dynamic balance and motion control for wheeled inverted pendulum vehicle via hierarchical sliding mode approach","display_name":"Dynamic balance and motion control for wheeled inverted pendulum vehicle via hierarchical sliding mode approach","publication_year":2014,"publication_date":"2014-04-03","ids":{"openalex":"https://openalex.org/W2130101380","doi":"https://doi.org/10.1177/0959651814525147","mag":"2130101380"},"language":"en","primary_location":{"id":"doi:10.1177/0959651814525147","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651814525147","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5078435236","display_name":"Ming Yue","orcid":"https://orcid.org/0000-0002-2984-4659"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Yue","raw_affiliation_strings":["School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China","State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China","#N# 1School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China","#N# 2State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"#N# 1School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China","institution_ids":["https://openalex.org/I27357992","https://openalex.org/I4210092944"]},{"raw_affiliation_string":"#N# 2State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101539944","display_name":"Xing Wei","orcid":"https://orcid.org/0000-0001-7938-9060"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"id":"https://openalex.org/I4210092944","display_name":"Dalian University","ror":"https://ror.org/00g2ypp58","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092944"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Wei","raw_affiliation_strings":["School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China","#N# 1School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"#N# 1School of Automotive Engineering, Dalian University of Technology, Dalian, P.R. China","institution_ids":["https://openalex.org/I27357992","https://openalex.org/I4210092944"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.063,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.91852891,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"228","issue":"6","first_page":"351","last_page":"358"},"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":0.9997000098228455,"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":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9983999729156494,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9930999875068665,"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":0.8494378924369812},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8327391147613525},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7988318204879761},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6461870670318604},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5722020268440247},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5500192642211914},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.45075955986976624},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.44585350155830383},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37799352407455444},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3571721911430359},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20426160097122192},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20373940467834473},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1890464723110199}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8494378924369812},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8327391147613525},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7988318204879761},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6461870670318604},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5722020268440247},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5500192642211914},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.45075955986976624},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.44585350155830383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37799352407455444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3571721911430359},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20426160097122192},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20373940467834473},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1890464723110199},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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":1,"locations":[{"id":"doi:10.1177/0959651814525147","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651814525147","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1520043303","https://openalex.org/W1980141020","https://openalex.org/W1992037392","https://openalex.org/W1992149856","https://openalex.org/W1994259710","https://openalex.org/W2004670183","https://openalex.org/W2030271151","https://openalex.org/W2034903360","https://openalex.org/W2035585209","https://openalex.org/W2036970490","https://openalex.org/W2042202806","https://openalex.org/W2054590964","https://openalex.org/W2054676558","https://openalex.org/W2090429571","https://openalex.org/W2120251180","https://openalex.org/W2120499270","https://openalex.org/W2127161747","https://openalex.org/W2142280335","https://openalex.org/W2156436323","https://openalex.org/W2168010468","https://openalex.org/W2278116085","https://openalex.org/W4214690320","https://openalex.org/W4237781669","https://openalex.org/W4254426908"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1485310626","https://openalex.org/W2104156591","https://openalex.org/W1980861396","https://openalex.org/W2980439421","https://openalex.org/W2117379282","https://openalex.org/W1973429430","https://openalex.org/W1989996768","https://openalex.org/W2354493725","https://openalex.org/W4282930489"],"abstract_inverted_index":{"Dynamic":[0],"balance":[1],"and":[2,36,60,120,151,168,181],"motion":[3],"control":[4,24,54,93,147,160,179],"for":[5,156],"a":[6,75,84],"class":[7],"of":[8,31,45,103,106,123,176],"underactuated":[9,86,101],"wheeled":[10],"inverted":[11],"pendulum":[12,47],"vehicles":[13],"that":[14],"are":[15,18,115,162],"inherent":[16],"unstable":[17,107],"investigated":[19],"in":[20],"this":[21,104],"study.":[22],"The":[23,63,109],"objective":[25],"is":[26,67,74,83,95,135,149],"to":[27,98],"stable":[28],"the":[29,32,46,58,81,100,124,129,138,145,153,157,174,177],"posture":[30],"vehicle":[33,125],"platform":[34],"(longitudinal":[35],"rotational":[37],"position/velocity)":[38],"as":[39,41],"well":[40],"hold":[42],"upright":[43],"position":[44],"(tilt":[48],"angle":[49,119],"stability),":[50],"only":[51],"with":[52],"two":[53,70],"inputs":[55],"generated":[56],"by":[57,137],"left":[59],"right":[61],"motors.":[62],"overall":[64,158],"dynamic":[65],"system":[66,161],"separated":[68],"into":[69],"decoupled":[71],"subsystems:":[72],"one":[73],"one-dimensional":[76],"fully":[77],"actuated":[78],"subsystem":[79],"while":[80,128],"other":[82],"two-dimensional":[85],"subsystem.":[87],"A":[88],"new":[89],"hierarchical":[90],"sliding":[91,112,132,141],"mode":[92,113,133,142],"methodology":[94],"first":[96,110,139],"developed":[97],"resolve":[99],"problem":[102],"kind":[105],"vehicles.":[108],"layer":[111,131,140],"surfaces":[114],"established":[116],"upon":[117],"tilt":[118],"longitudinal":[121],"displacement":[122],"body,":[126],"respectively;":[127],"second":[130],"surface":[134],"constructed":[136],"surfaces.":[143],"Consequently,":[144],"total":[146],"law":[148],"deduced,":[150],"then":[152],"asymptotic":[154],"stabilities":[155],"closed-loop":[159],"addressed":[163],"via":[164],"Lyapunov":[165],"stability":[166],"theorem":[167],"Barbalat\u2019s":[169],"Lemma.":[170],"Numerical":[171],"simulations":[172],"illustrate":[173],"effectiveness":[175],"proposed":[178],"approaches":[180],"methodologies.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-26T07:53:14.480251","created_date":"2025-10-10T00:00:00"}
