{"id":"https://openalex.org/W3194972021","doi":"https://doi.org/10.1177/09596518211037768","title":"Dynamic modeling and optimized trajectory tracking control of an autonomous tracked vehicle via backstepping and sliding mode control","display_name":"Dynamic modeling and optimized trajectory tracking control of an autonomous tracked vehicle via backstepping and sliding mode control","publication_year":2021,"publication_date":"2021-08-15","ids":{"openalex":"https://openalex.org/W3194972021","doi":"https://doi.org/10.1177/09596518211037768","mag":"3194972021"},"language":"en","primary_location":{"id":"doi:10.1177/09596518211037768","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518211037768","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/A5053102920","display_name":"Ahmed D. Sabiha","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100308","display_name":"Military Technical College","ror":"https://ror.org/01337pb37","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210100308"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed D Sabiha","raw_affiliation_strings":["Department of Mechanical Engineering, Military Technical College, Cairo, Egypt"],"raw_orcid":"https://orcid.org/0000-0003-2594-1942","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Military Technical College, Cairo, Egypt","institution_ids":["https://openalex.org/I4210100308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036994690","display_name":"Mohamed A. Kamel","orcid":"https://orcid.org/0000-0003-1968-4345"},"institutions":[{"id":"https://openalex.org/I4210100308","display_name":"Military Technical College","ror":"https://ror.org/01337pb37","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210100308"]}],"countries":["EG"],"is_corresponding":true,"raw_author_name":"Mohamed A Kamel","raw_affiliation_strings":["Department of Mechanical Engineering, Military Technical College, Cairo, Egypt"],"raw_orcid":"https://orcid.org/0000-0003-1968-4345","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Military Technical College, Cairo, Egypt","institution_ids":["https://openalex.org/I4210100308"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022572425","display_name":"Ehab Said","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100308","display_name":"Military Technical College","ror":"https://ror.org/01337pb37","country_code":"EG","type":"education","lineage":["https://openalex.org/I4210100308"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ehab Said","raw_affiliation_strings":["Department of Mechanical Engineering, Military Technical College, Cairo, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Military Technical College, Cairo, Egypt","institution_ids":["https://openalex.org/I4210100308"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113915349","display_name":"Wessam M. Hussein","orcid":null},"institutions":[{"id":"https://openalex.org/I895027328","display_name":"October University of Modern Sciences and Arts","ror":"https://ror.org/01nvnhx40","country_code":"EG","type":"education","lineage":["https://openalex.org/I895027328"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Wessam M Hussein","raw_affiliation_strings":["Department of Mechatronics Systems Engineering, October University for Modern Sciences and Arts, 6th of October City, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Systems Engineering, October University for Modern Sciences and Arts, 6th of October City, Egypt","institution_ids":["https://openalex.org/I895027328"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036994690"],"corresponding_institution_ids":["https://openalex.org/I4210100308"],"apc_list":null,"apc_paid":null,"fwci":1.9426,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.86085044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"236","issue":"3","first_page":"620","last_page":"633"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9979000091552734,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8694822788238525},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8650826215744019},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7020636796951294},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6969879269599915},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6811578273773193},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5628042817115784},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5094912648200989},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5056319236755371},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.5010876655578613},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4844517707824707},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47371333837509155},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.47251519560813904},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4705769419670105},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.4463309049606323},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4271194636821747},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33037394285202026},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.26312577724456787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17752563953399658},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07432189583778381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0714174211025238}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8694822788238525},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8650826215744019},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7020636796951294},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6969879269599915},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6811578273773193},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5628042817115784},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5094912648200989},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5056319236755371},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.5010876655578613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4844517707824707},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47371333837509155},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.47251519560813904},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4705769419670105},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.4463309049606323},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4271194636821747},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33037394285202026},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.26312577724456787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17752563953399658},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07432189583778381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0714174211025238},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09596518211037768","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518211037768","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W397123209","https://openalex.org/W1506295672","https://openalex.org/W1519405745","https://openalex.org/W1523457751","https://openalex.org/W1545775168","https://openalex.org/W1633338931","https://openalex.org/W1986487640","https://openalex.org/W1988572219","https://openalex.org/W1999636742","https://openalex.org/W2002211437","https://openalex.org/W2017555642","https://openalex.org/W2021610739","https://openalex.org/W2029454921","https://openalex.org/W2036281002","https://openalex.org/W2048368939","https://openalex.org/W2050673413","https://openalex.org/W2056090225","https://openalex.org/W2088363200","https://openalex.org/W2107168223","https://openalex.org/W2119275013","https://openalex.org/W2149056111","https://openalex.org/W2165216595","https://openalex.org/W2173271680","https://openalex.org/W2360714575","https://openalex.org/W2417276951","https://openalex.org/W2464061210","https://openalex.org/W2604842719","https://openalex.org/W2897355009","https://openalex.org/W2904105134","https://openalex.org/W2904939455","https://openalex.org/W2911523751","https://openalex.org/W2915756552","https://openalex.org/W2969365749","https://openalex.org/W3150565301","https://openalex.org/W3215538723","https://openalex.org/W4285502049"],"related_works":["https://openalex.org/W4316618353","https://openalex.org/W4226382645","https://openalex.org/W3216719245","https://openalex.org/W4226267256","https://openalex.org/W4307334309","https://openalex.org/W2168992150","https://openalex.org/W1555822455","https://openalex.org/W2046303141","https://openalex.org/W3177256865","https://openalex.org/W1973298112"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,110,117],"complete":[4],"kinematic":[5,33],"and":[6,9,27,47,64,116],"dynamic":[7,114],"modeling":[8],"trajectory":[10,67],"tracking":[11],"control":[12,54,106],"of":[13,87,103],"an":[14,38,50],"autonomous":[15],"tracked":[16],"vehicle.":[17],"First,":[18],"based":[19,43,80],"on":[20,44,81],"the":[21,24,59,69,73,82,85,101,104],"vehicle\u2019s":[22],"kinematics,":[23],"reference":[25],"linear":[26],"angular":[28],"velocities":[29],"are":[30,76,97],"evaluated.":[31],"The":[32],"controller":[34,74,115],"is":[35,55,92],"proposed":[36,90,105],"as":[37],"integrated":[39],"backstepping":[40],"controller.":[41,121],"Then,":[42],"vehicle":[45,61],"dynamics":[46],"slipping":[48],"characteristics,":[49],"integral":[51],"sliding":[52],"mode":[53],"utilized":[56],"to":[57,68,99],"get":[58],"desired":[60,70],"drive":[62],"torques":[63],"converge":[65],"its":[66],"one.":[71],"Whereas":[72],"gains":[75],"optimally":[77],"calculated.":[78],"Furthermore,":[79],"Lyapunov":[83],"stability,":[84],"proof":[86],"stability":[88],"for":[89],"controllers":[91],"presented.":[93],"Finally,":[94],"simulation":[95],"results":[96],"conducted":[98],"validate":[100],"effectiveness":[102],"algorithm":[107],"compared":[108],"with":[109],"hybrid":[111],"backstepping-modified":[112],"proportional\u2013integral\u2013derivative":[113],"nonlinear":[118],"feedback":[119],"acceleration":[120]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
