{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,23]],"date-time":"2026-05-23T14:04:37Z","timestamp":1779545077355,"version":"3.53.1"},"reference-count":44,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Computers and Electronics in Agriculture"],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1016\/j.compag.2026.111857","type":"journal-article","created":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T00:40:52Z","timestamp":1778546452000},"page":"111857","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Adaptive sliding mode observer with Metaheuristic optimization for accurate state estimation in distributed electric drive plant protection vehicles"],"prefix":"10.1016","volume":"249","author":[{"given":"Wenxiang","family":"Xu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yejun","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5213-1035","authenticated-orcid":false,"given":"Maohua","family":"Xiao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiyang","family":"Du","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"He","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanpeng","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ze","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.compag.2026.111857_b0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2024.106046","article-title":"Vehicle modeling and state estimation for autonomous driving in terrain","volume":"152","author":"Badar","year":"2024","journal-title":"Control Eng. Pract."},{"key":"10.1016\/j.compag.2026.111857_b0010","unstructured":"Baek, S. Y., Kim, W. S., Kim, Y. S., Kim, Y. J., Park, C. G., An, S. C., . . . Control. (2020). Development of a simulation model for an 80 kW-class electric all-wheel-drive (AWD) tractor using agricultural workload. 17(1), 27-36. doi:http:\/\/dx.doi.org\/10.7839\/ksfc.2020.17.1.02."},{"issue":"11","key":"10.1016\/j.compag.2026.111857_b0015","doi-asserted-by":"crossref","first-page":"1766","DOI":"10.1080\/00423114.2019.1645860","article-title":"Combined regression and classification artificial neural networks for sideslip angle estimation and road condition identification","volume":"58","author":"Bonfitto","year":"2020","journal-title":"Veh. Syst. Dyn."},{"key":"10.1016\/j.compag.2026.111857_b0020","doi-asserted-by":"crossref","unstructured":"Cheng, S., Li, L., Yan, B., Liu, C., Wang, X., Fang, J. J. M. s., & processing, s. (2019). Simultaneous estimation of tire side-slip angle and lateral tire force for vehicle lateral stability control. 132, 168-182. Doi: 10.1016\/j.ymssp.2019.06.022.","DOI":"10.1016\/j.ymssp.2019.06.022"},{"issue":"1","key":"10.1016\/j.compag.2026.111857_b0025","first-page":"40","volume":"13","author":"Deng","year":"2022","journal-title":"Research on Dynamic Analysis and Experimental Study of the Distributed Drive Electric Tractor."},{"key":"10.1016\/j.compag.2026.111857_b0030","volume":"106","author":"Ding","year":"2023","journal-title":"Straight-Line Tracking Controller Design of Agricultural Tractors Based on Third-Order Sliding Mode."},{"key":"10.1016\/j.compag.2026.111857_b0035","doi-asserted-by":"crossref","DOI":"10.1007\/s11119-022-09903-5","article-title":"Quantification of self-propelled sprayers turn compensation feature utilization and advantages during on-farm applications","volume":"23","author":"Fabula","year":"2022","journal-title":"Precis. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0040","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2025.109921","article-title":"Object-oriented modelling of a tracked vehicle for agricultural applications","volume":"230","author":"Febbraro","year":"2025","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0045","doi-asserted-by":"crossref","DOI":"10.1016\/j.jterra.2024.101023","article-title":"Modelling and simulation fundamentals in design for ground vehicle mobility Part II: Western approach","volume":"117","author":"Gorsich","year":"2025","journal-title":"J. Terramech."},{"key":"10.1016\/j.compag.2026.111857_b0050","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2019.104947","article-title":"Automatic tractor slip-draft embedded control system","volume":"165","author":"Gupta","year":"2019","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0055","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1016\/j.biosystemseng.2018.11.003","article-title":"Application of a 3D tractor-driving simulator for slip estimation-based path-tracking control of auto-guided tillage operation","volume":"178","author":"Han","year":"2019","journal-title":"Biosyst. Eng."},{"key":"10.1016\/j.compag.2026.111857_b0065","doi-asserted-by":"crossref","unstructured":"Kayacan, E., Kayacan, E., Ramon, H., & Saeys, W. J. m. (2014). Distributed nonlinear model predictive control of an autonomous tractor\u2013trailer system. 24(8), 926-933. Doi: 10.1016\/j.mechatronics.2014.03.007.","DOI":"10.1016\/j.mechatronics.2014.03.007"},{"key":"10.1016\/j.compag.2026.111857_b0070","doi-asserted-by":"crossref","first-page":"300","DOI":"10.1016\/j.trc.2014.06.007","article-title":"Estimating vehicle speed with embedded inertial sensors","volume":"46","author":"Levenberg","year":"2014","journal-title":"Transp. Res. Part C Emerging Technol."},{"key":"10.1016\/j.compag.2026.111857_b0075","doi-asserted-by":"crossref","DOI":"10.1139\/tcsme-2024-0070","article-title":"Vehicle stability control based on vehicle motion state and tire force estimation","author":"Li","year":"2025","journal-title":"Trans. Can. Soc. Mech. Eng."},{"issue":"9","key":"10.1016\/j.compag.2026.111857_b0080","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.106907","article-title":"Learning-based Vehicle State Estimation using Gaussian Process Regression combined with Extended Kalman Filter","volume":"361","author":"Li","year":"2024","journal-title":"J. Franklin Inst."},{"key":"10.1016\/j.compag.2026.111857_b0085","doi-asserted-by":"crossref","unstructured":"Li, Q., Li, K., Liang, W. J. M. S., & Technology. (2023). A zero-velocity update method based on neural network and Kalman filter for vehicle-mounted inertial navigation system. 34(4), 045110.","DOI":"10.1088\/1361-6501\/acabde"},{"key":"10.1016\/j.compag.2026.111857_b0090","doi-asserted-by":"crossref","DOI":"10.1016\/j.energy.2023.129350","article-title":"Power allocation strategy for fuel cell distributed drive electric tractor based on adaptive multi-resolution analysis theory","volume":"284","author":"Li","year":"2023","journal-title":"Energy"},{"key":"10.1016\/j.compag.2026.111857_b0095","doi-asserted-by":"crossref","DOI":"10.1016\/j.energy.2024.130485","article-title":"Parameters collaborative optimization design and innovation verification approach for fuel cell distributed drive electric tractor","volume":"292","author":"Li","year":"2024","journal-title":"Energy"},{"key":"10.1016\/j.compag.2026.111857_b0100","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.108811","article-title":"Research on torque cooperative control of distributed drive system for fuel cell electric tractor","volume":"219","author":"Li","year":"2024","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0105","doi-asserted-by":"crossref","DOI":"10.1016\/j.measurement.2024.115212","article-title":"A new visual sensing system for motion state estimation of lateral localization of intelligent vehicles","volume":"237","author":"Li","year":"2024","journal-title":"Measurement"},{"key":"10.1016\/j.compag.2026.111857_b0110","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2024.105893","article-title":"Combined acceleration slip regulation for multi-wheel distributed electric drive vehicles considering torque loss factor","volume":"146","author":"Li","year":"2024","journal-title":"Control Eng. Pract."},{"key":"10.1016\/j.compag.2026.111857_b0115","doi-asserted-by":"crossref","DOI":"10.1016\/j.apenergy.2024.124230","article-title":"Energy-saving drive control strategy for electric tractors based on terrain parameter identification","volume":"376","author":"Luo","year":"2024","journal-title":"Appl. Energy"},{"issue":"12","key":"10.1016\/j.compag.2026.111857_b0120","doi-asserted-by":"crossref","first-page":"3244","DOI":"10.1080\/00423114.2022.2158567","article-title":"Adaptive vehicle dynamics state estimator for onboard automotive applications and performance analysis","volume":"61","author":"Mosconi","year":"2023","journal-title":"Veh. Syst. Dyn."},{"key":"10.1016\/j.compag.2026.111857_b0125","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.106826","article-title":"Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model","volume":"196","author":"Murillo","year":"2022","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0130","article-title":"Estimating vehicle speed through a driving experiment","volume":"6","author":"Park","year":"2022","journal-title":"Forensic Sci. Int.: Rep."},{"issue":"1","key":"10.1016\/j.compag.2026.111857_b0135","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.ijadr.2024.03.001","article-title":"Design of plant protection unmanned aerial vehicles: Quantitative research and virtual simulation","volume":"2","author":"Qi","year":"2024","journal-title":"Advanced Design Research"},{"key":"10.1016\/j.compag.2026.111857_b0140","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2019.104868","article-title":"Assessment of power consumption of electric machinery in agricultural tasks for enhancing the route planning problem","volume":"163","author":"Romero Schmidt","year":"2019","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0145","first-page":"38","article-title":"Reliable execution of a robust soft computing workplace found on multiple neuro-fuzzy inference systems coupled with multiple nonlinear equations for exhaustive perception of tractor-implement performance in plowing process","volume":"2","author":"Shafaei","year":"2019","journal-title":"Artif. Intell. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0150","first-page":"209","article-title":"Benchmark of an intelligent fuzzy calculator for admissible estimation of drawbar pull supplied by mechanical front wheel drive tractor","volume":"4","author":"Shafaei","year":"2020","journal-title":"Artif. Intell. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0155","doi-asserted-by":"crossref","DOI":"10.1016\/j.still.2020.104765","article-title":"Fundamental realization of longitudinal slip efficiency of tractor wheels in a tillage practice","volume":"205","author":"Shafaei","year":"2021","journal-title":"Soil Tillage Res."},{"key":"10.1016\/j.compag.2026.111857_b0160","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/j.isatra.2024.07.020","article-title":"Backstepping based intelligent control of tractor-trailer mobile manipulators with wheel slip consideration","volume":"153","author":"Soni","year":"2024","journal-title":"ISA Trans."},{"key":"10.1016\/j.compag.2026.111857_b0165","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1016\/j.isatra.2023.12.037","article-title":"Nonsingleton Gaussian type-3 fuzzy system with fractional order NTSMC for path tracking of autonomous cars","volume":"146","author":"Taghavifar","year":"2024","journal-title":"ISA Trans."},{"key":"10.1016\/j.compag.2026.111857_b0170","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2024.105905","article-title":"Cooperative control strategy of trajectory tracking and driving stability for distributed-drive vehicles under extreme conditions","volume":"147","author":"Teng","year":"2024","journal-title":"Control Eng. Pract."},{"key":"10.1016\/j.compag.2026.111857_b0175","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2024.105901","article-title":"Vehicle Sideslip Angle estimation under critical road conditions via nonlinear Kalman filter-based state-dependent Interacting Multiple Model approach","volume":"146","author":"Tufano","year":"2024","journal-title":"Control Eng. Pract."},{"key":"10.1016\/j.compag.2026.111857_b0180","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2024.109447","article-title":"Research status and development trend of key technology of agricultural machinery chassis in hilly and mountainous areas","volume":"226","author":"Wang","year":"2024","journal-title":"Comput. Electron. Agric."},{"issue":"13","key":"10.1016\/j.compag.2026.111857_b0185","doi-asserted-by":"crossref","first-page":"7051","DOI":"10.1016\/j.jfranklin.2022.07.015","article-title":"Hierarchical estimation of vehicle state and tire forces for distributed in-wheel motor drive electric vehicle without previously established tire model","volume":"359","author":"Wang","year":"2022","journal-title":"J. Franklin Inst."},{"key":"10.1016\/j.compag.2026.111857_b0190","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2024.109600","article-title":"Integration of in-wheel motor sensorless systems and hierarchical direct yaw moment control for distributed drive electric vehicles","volume":"139","author":"Wang","year":"2025","journal-title":"Eng. Appl. Artif. Intel."},{"key":"10.1016\/j.compag.2026.111857_b0195","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2023.107402","article-title":"Research on state-parameter estimation of unmanned Tractor\u2014A hybrid method of DEKF and ARBFNN","volume":"127","author":"Xu","year":"2024","journal-title":"Eng. Appl. Artif. Intel."},{"issue":"1","key":"10.1016\/j.compag.2026.111857_b0200","first-page":"495","article-title":"Energy-saving and stability-enhancing control for unmanned distributed drive electric plant protection vehicle based on active torque distribution","volume":"16","author":"Xu","year":"2026","journal-title":"Artif. Intell. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0205","doi-asserted-by":"crossref","DOI":"10.1016\/j.compag.2022.107221","article-title":"Joint path planning and scheduling for vehicle-assisted multiple Unmanned Aerial Systems plant protection operation","volume":"200","author":"Xu","year":"2022","journal-title":"Comput. Electron. Agric."},{"key":"10.1016\/j.compag.2026.111857_b0210","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2025.106264","article-title":"Distributed nonlinear estimation of vehicle states and tire forces with stability guarantees","volume":"157","author":"Yang","year":"2025","journal-title":"Control Eng. Pract."},{"key":"10.1016\/j.compag.2026.111857_b0215","doi-asserted-by":"crossref","DOI":"10.1016\/j.measurement.2024.116153","article-title":"A comprehensive estimation method for vehicle motion states based on model constraints","volume":"242","author":"Ye","year":"2025","journal-title":"Measurement"},{"key":"10.1016\/j.compag.2026.111857_b0220","doi-asserted-by":"crossref","DOI":"10.1016\/j.energy.2022.126008","article-title":"A joint control method considering travel speed and slip for reducing energy consumption of rear wheel independent drive electric tractor in ploughing","volume":"263","author":"Zhang","year":"2023","journal-title":"Energy"},{"issue":"2","key":"10.1016\/j.compag.2026.111857_b0225","first-page":"221","article-title":"Research on an orchard row centreline multipoint autonomous navigation method based on LiDAR","volume":"15","author":"Zhenyu","year":"2025","journal-title":"Artif. Intell. Agric."}],"container-title":["Computers and Electronics in Agriculture"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0168169926004527?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0168169926004527?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,23]],"date-time":"2026-05-23T13:05:17Z","timestamp":1779541517000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0168169926004527"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":44,"alternative-id":["S0168169926004527"],"URL":"https:\/\/doi.org\/10.1016\/j.compag.2026.111857","relation":{},"ISSN":["0168-1699"],"issn-type":[{"value":"0168-1699","type":"print"}],"subject":[],"published":{"date-parts":[[2026,7]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Adaptive sliding mode observer with Metaheuristic optimization for accurate state estimation in distributed electric drive plant protection vehicles","name":"articletitle","label":"Article Title"},{"value":"Computers and Electronics in Agriculture","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.compag.2026.111857","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"111857"}}