{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:47:09Z","timestamp":1777927629345,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2025,6,24]],"date-time":"2025-06-24T00:00:00Z","timestamp":1750723200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100004733","name":"University of Macau","doi-asserted-by":"crossref","award":["MYRG-CRG2022-00006-FST"],"award-info":[{"award-number":["MYRG-CRG2022-00006-FST"]}],"id":[{"id":"10.13039\/501100004733","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100004733","name":"University of Macau","doi-asserted-by":"crossref","award":["MYRG-GRG2023-00235-FST-UMDF"],"award-info":[{"award-number":["MYRG-GRG2023-00235-FST-UMDF"]}],"id":[{"id":"10.13039\/501100004733","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52175127"],"award-info":[{"award-number":["52175127"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2025,10]]},"abstract":"<jats:p>This paper presents a direct yaw moment control (DYC) strategy based on the fractional-order (FO) sliding mode control (SMC) algorithm to enhance the lateral stability of four-wheel independent drive electric vehicles (FWID-EVs) with uncertainty and time-delay. First, a two degrees of freedom (2-DOF) vehicle model with uncertainty and time-delay is developed. Based on the nonlinear vehicle model, a peaking-free disturbance observer is designed to mitigate the effect of unknown disturbance on the control system. Then, a robust adaptive nonsingular fast terminal FO sliding mode strategy for DYC is proposed. This strategy has the advantage of considering the key factors of SMC, not only ensuring the global convergence rate but also reducing the chattering problem. Moreover, this research thoroughly analyzes the benefits of introducing fractional operators in sliding mode surfaces or reaching laws. Finally, the proposed schemes are validated by a closed-loop simulation and a hardware-in-the-loop (HIL) test.<\/jats:p>","DOI":"10.1177\/09596518251341541","type":"journal-article","created":{"date-parts":[[2025,6,24]],"date-time":"2025-06-24T11:43:01Z","timestamp":1750765381000},"page":"1687-1699","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Robust fractional-order sliding mode direct yaw moment control for lateral stabilization of FWID-EVs with time-delay and uncertainty"],"prefix":"10.1177","volume":"239","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7623-6904","authenticated-orcid":false,"given":"Pak Kin","family":"Wong","sequence":"first","affiliation":[{"name":"Department of Electromechanical Engineering, University of Macau, Taipa, Macao, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1772-1210","authenticated-orcid":false,"given":"Xingqi","family":"Hua","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, University of Macau, Taipa, Macao, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6912-9019","authenticated-orcid":false,"given":"Jing","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Electromechanical Engineering, University of Macau, Taipa, Macao, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,6,24]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2021.3136186"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2021.3065106"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2020.2981619"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2019.1645343"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2022.3161460"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2013.879190"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.1161"},{"key":"e_1_3_3_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2021.3120687"},{"key":"e_1_3_3_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TTE.2021.3128429"},{"key":"e_1_3_3_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2020.3030712"},{"key":"e_1_3_3_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2020.3012962"},{"key":"e_1_3_3_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2020.2974107"},{"key":"e_1_3_3_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2024.05.022"},{"key":"e_1_3_3_15_2","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-021-00600-4"},{"issue":"3","key":"e_1_3_3_16_2","first-page":"137065","article-title":"NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties","volume":"69","author":"Sun X","year":"2021","unstructured":"Sun X, Wang Y, Cai Y, et al. NFTSM control of direct yaw moment for autonomous electric vehicles with consideration of tire nonlinear mechanical properties. Bull Pol Acad Sci Tech Sci 2021; 69(3): 137065.","journal-title":"Bull Pol Acad Sci Tech Sci"},{"key":"e_1_3_3_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2021.3114278"},{"key":"e_1_3_3_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/TPEL.2022.3174064"},{"key":"e_1_3_3_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cnsns.2024.107960"},{"issue":"8","key":"e_1_3_3_20_2","first-page":"1501","article-title":"Some parametric and argument variations of the operators of fractional calculus and related special functions and integral transformations","volume":"22","author":"Srivastava H.","year":"2021","unstructured":"Srivastava H. Some parametric and argument variations of the operators of fractional calculus and related special functions and integral transformations. J Nonlinear Convex Anal 2021; 22(8): 1501\u20131520.","journal-title":"J Nonlinear Convex Anal"},{"key":"e_1_3_3_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2017.09.063"},{"key":"e_1_3_3_22_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11063-018-9879-4"},{"key":"e_1_3_3_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.3025439"},{"key":"e_1_3_3_24_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.matcom.2023.08.016"},{"key":"e_1_3_3_25_2","volume-title":"Vehicle dynamics and control","author":"Rajamani R.","year":"2011","unstructured":"Rajamani R. Vehicle dynamics and control. New York: Springer Science Business Media, 2011."},{"key":"e_1_3_3_26_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-020-05818-w"},{"key":"e_1_3_3_27_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2017.11.027"},{"key":"e_1_3_3_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2682024"},{"issue":"5","key":"e_1_3_3_29_2","article-title":"Chaos-based privacy preserving vehicle safety protocol for 5G connected autonomous vehicle networks","volume":"31","author":"Ansari S","year":"2020","unstructured":"Ansari S, Ahmad J, Aziz Shah S, et al. Chaos-based privacy preserving vehicle safety protocol for 5G connected autonomous vehicle networks. Trans Emerg Telecomm Technol 2020; 31(5): e3966.","journal-title":"Trans Emerg Telecomm Technol"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/09596518251341541","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/09596518251341541","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/09596518251341541","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:48:08Z","timestamp":1777675688000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/09596518251341541"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,24]]},"references-count":28,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2025,10]]}},"alternative-id":["10.1177\/09596518251341541"],"URL":"https:\/\/doi.org\/10.1177\/09596518251341541","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,6,24]]}}}