Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits
Parametric modeling uncertainties and unknown external disturbance are major concerns in the development of advanced lateral motion controller for autonomous vehicle at the limits of driving conditions. Considering that tyre operating at or close to its physical limits of friction exhibits highly no...
Uložené v:
| Vydané v: | Control engineering practice Ročník 76; s. 41 - 53 |
|---|---|
| Hlavní autori: | , , , , |
| Médium: | Journal Article |
| Jazyk: | English |
| Vydavateľské údaje: |
Elsevier Ltd
01.07.2018
|
| Predmet: | |
| ISSN: | 0967-0661, 1873-6939 |
| On-line prístup: | Získať plný text |
| Tagy: |
Pridať tag
Žiadne tagy, Buďte prvý, kto otaguje tento záznam!
|
| Abstract | Parametric modeling uncertainties and unknown external disturbance are major concerns in the development of advanced lateral motion controller for autonomous vehicle at the limits of driving conditions. Considering that tyre operating at or close to its physical limits of friction exhibits highly nonlinear force response and that unknown external disturbance can be caused by changing driving conditions, this paper presents a novel lateral motion control method that can maintain the yaw stability of autonomous vehicle while minimizing lateral path tracking error at the limits of driving conditions The proposed control scheme consists of a robust steering controller and an adaptive neural network (ANN) approximator. First, based on reference path model, dynamics model and kinematics model of vehicle, the robust steering controller is developed via backstepping variable structure control (BVSC) to suppress lateral path tracking deviation, to withstand unknown external disturbance and guarantee the yaw stability of autonomous vehicle. Then, by combining adaptive control mechanism based on Lyapunov stability theory and radial basis function neural network (RBFNN), the ANN approximator is designed to estimate uncertainty of tyre cornering stiffness and reduce its adverse effects by learning to approximate arbitrary nonlinear functions, and it ensures the uniform ultimate boundedness of the closed-loop system. Both simulation and experiment results show that the proposed control strategy can robustly track the reference path and at the same time maintains the yaw stability of vehicle at or near the physical limits of tyre friction.
•Path tracking capability and yaw stability of autonomous vehicle at driving limits are focused on.•Tyre cornering stiffness uncertainty and unknown external disturbance are considered in the proposed controller.•A novel lateral motion control approach is presented based on the robust steering controller and the adaptive neural network approximator.•Both simulation and experiment results show that the proposed control scheme exhibits superior lateral motion control performance. |
|---|---|
| AbstractList | Parametric modeling uncertainties and unknown external disturbance are major concerns in the development of advanced lateral motion controller for autonomous vehicle at the limits of driving conditions. Considering that tyre operating at or close to its physical limits of friction exhibits highly nonlinear force response and that unknown external disturbance can be caused by changing driving conditions, this paper presents a novel lateral motion control method that can maintain the yaw stability of autonomous vehicle while minimizing lateral path tracking error at the limits of driving conditions The proposed control scheme consists of a robust steering controller and an adaptive neural network (ANN) approximator. First, based on reference path model, dynamics model and kinematics model of vehicle, the robust steering controller is developed via backstepping variable structure control (BVSC) to suppress lateral path tracking deviation, to withstand unknown external disturbance and guarantee the yaw stability of autonomous vehicle. Then, by combining adaptive control mechanism based on Lyapunov stability theory and radial basis function neural network (RBFNN), the ANN approximator is designed to estimate uncertainty of tyre cornering stiffness and reduce its adverse effects by learning to approximate arbitrary nonlinear functions, and it ensures the uniform ultimate boundedness of the closed-loop system. Both simulation and experiment results show that the proposed control strategy can robustly track the reference path and at the same time maintains the yaw stability of vehicle at or near the physical limits of tyre friction.
•Path tracking capability and yaw stability of autonomous vehicle at driving limits are focused on.•Tyre cornering stiffness uncertainty and unknown external disturbance are considered in the proposed controller.•A novel lateral motion control approach is presented based on the robust steering controller and the adaptive neural network approximator.•Both simulation and experiment results show that the proposed control scheme exhibits superior lateral motion control performance. |
| Author | Liu, Yahui He, Xiangkun Wu, Jian Ji, Xuewu Lv, Chen |
| Author_xml | – sequence: 1 givenname: Xuewu surname: Ji fullname: Ji, Xuewu organization: The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, People’s Republic of China – sequence: 2 givenname: Xiangkun surname: He fullname: He, Xiangkun organization: The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, People’s Republic of China – sequence: 3 givenname: Chen surname: Lv fullname: Lv, Chen organization: Advanced Vehicle Engineering Center, Cranfield University, United Kingdom – sequence: 4 givenname: Yahui surname: Liu fullname: Liu, Yahui email: liuyahui@tsinghua.edu.cn organization: The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, People’s Republic of China – sequence: 5 givenname: Jian surname: Wu fullname: Wu, Jian organization: The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, People’s Republic of China |
| BookMark | eNqNkF9LwzAUxYNMcJt-h3yB1qTt2uRFmMN_MPBFn0Oa3MzMthlJWvHbmzFB8EWfDpzLOZfzW6DZ4AZACFOSU0Lr632ukjHsDl6qvCCU5aTKCWnO0JyypsxqXvIZmhNeNxmpa3qBFiHsSYpyTudIr7U8RDtBNsDoZZckfjj_nrUygMbetWOIuJMR0hH3Llo34PQxetdh4zyWY3SD690Y8ARvVnWAZcTa28kOO9zZ3sZwic6N7AJcfesSvd7fvWwes-3zw9Nmvc1USVnMVkY3pa6rmhWF4hIoGNYWTCpZrWhyOedKc85qowswoFhDG01aSLpqlTblErFTr_IuBA9GHLztpf8UlIgjLbEXP7TEkZYglUi0UvTmV1TZKI9ro5e2-0_B7akA0sDJghdBWRgUaOtBRaGd_bvkCzI2k3Q |
| CitedBy_id | crossref_primary_10_1109_TMECH_2024_3360097 crossref_primary_10_1016_j_automatica_2025_112118 crossref_primary_10_1007_s10846_024_02152_w crossref_primary_10_1177_09596518221103040 crossref_primary_10_1016_j_ifacol_2020_12_1377 crossref_primary_10_3390_s18082544 crossref_primary_10_1016_j_asoc_2024_111802 crossref_primary_10_1177_09544070211020535 crossref_primary_10_1016_j_matpr_2022_04_727 crossref_primary_10_1109_TIV_2022_3154426 crossref_primary_10_3390_electronics12122748 crossref_primary_10_1177_09544070231185803 crossref_primary_10_1016_j_conengprac_2021_105044 crossref_primary_10_3390_appliedmath5020033 crossref_primary_10_1109_TITS_2024_3375885 crossref_primary_10_1177_09544070211026191 crossref_primary_10_1049_itr2_12114 crossref_primary_10_1142_S2591728525500069 crossref_primary_10_1016_j_conengprac_2023_105813 crossref_primary_10_1109_TITS_2020_2979431 crossref_primary_10_3390_en14217438 crossref_primary_10_1016_j_knosys_2023_110485 crossref_primary_10_3390_wevj13030053 crossref_primary_10_1177_0954407019901083 crossref_primary_10_1080_14680629_2022_2146601 crossref_primary_10_1080_23307706_2023_2245466 crossref_primary_10_1007_s12239_025_00340_7 crossref_primary_10_1111_itor_12785 crossref_primary_10_1177_09544070241286581 crossref_primary_10_1109_TVT_2021_3125131 crossref_primary_10_1177_09544070221105729 crossref_primary_10_1177_1687814019892108 crossref_primary_10_1016_j_ifacol_2021_06_007 crossref_primary_10_1155_2022_1457532 crossref_primary_10_1088_1361_6501_ae0066 crossref_primary_10_1007_s00521_024_10768_0 crossref_primary_10_3390_electronics12173635 crossref_primary_10_1002_rnc_6243 crossref_primary_10_1007_s42154_023_00256_x crossref_primary_10_1155_2020_8935423 crossref_primary_10_1177_0036850420934274 crossref_primary_10_1016_j_ress_2025_111092 crossref_primary_10_3390_s22134676 crossref_primary_10_1007_s42154_024_00302_2 crossref_primary_10_1016_j_mechatronics_2025_103362 crossref_primary_10_1109_ACCESS_2021_3084807 crossref_primary_10_1007_s00500_019_04082_4 crossref_primary_10_1177_09544070241244858 crossref_primary_10_1002_rnc_7640 crossref_primary_10_1016_j_jece_2025_117380 crossref_primary_10_1080_00423114_2020_1864419 crossref_primary_10_1109_TITS_2020_2984210 crossref_primary_10_1016_j_neucom_2025_131222 crossref_primary_10_1016_j_isatra_2023_12_037 crossref_primary_10_1177_09544070221121859 crossref_primary_10_3390_app12020682 crossref_primary_10_1016_j_ymssp_2020_106773 crossref_primary_10_1109_TIV_2022_3173448 crossref_primary_10_1016_j_neucom_2024_128635 crossref_primary_10_1109_TVT_2023_3249832 crossref_primary_10_1007_s40430_025_05384_5 crossref_primary_10_1016_j_neunet_2019_09_028 crossref_primary_10_1155_2021_7448517 crossref_primary_10_1063_1_5141506 crossref_primary_10_1016_j_ymssp_2025_112672 crossref_primary_10_1088_1742_6596_2083_3_032029 crossref_primary_10_1016_j_conengprac_2025_106467 crossref_primary_10_3390_app10217716 crossref_primary_10_1109_TVT_2024_3452408 crossref_primary_10_3390_machines12010031 crossref_primary_10_1016_j_robot_2023_104557 crossref_primary_10_1109_ACCESS_2022_3156275 crossref_primary_10_1177_09544070231185170 crossref_primary_10_3390_act14090464 crossref_primary_10_1016_j_neucom_2023_126986 crossref_primary_10_1049_itr2_12161 crossref_primary_10_1109_TVT_2023_3274672 crossref_primary_10_1177_09544070231214333 crossref_primary_10_1049_cth2_12397 crossref_primary_10_1177_09544070221149278 crossref_primary_10_1109_TETCI_2023_3349183 crossref_primary_10_1016_j_neucom_2020_05_091 crossref_primary_10_1108_AA_08_2019_0148 crossref_primary_10_3390_en18082112 crossref_primary_10_1016_j_conengprac_2022_105164 crossref_primary_10_1016_j_ymssp_2019_04_060 crossref_primary_10_1016_j_engappai_2023_107402 crossref_primary_10_1109_TITS_2022_3182928 crossref_primary_10_1109_ACCESS_2021_3112560 crossref_primary_10_3390_electronics10040510 crossref_primary_10_1016_j_isatra_2023_06_019 crossref_primary_10_1177_09544070251314231 crossref_primary_10_1109_TIV_2022_3165048 crossref_primary_10_1177_03611981241270168 crossref_primary_10_1177_09544070241296584 crossref_primary_10_1109_ACCESS_2024_3451511 crossref_primary_10_1109_TMECH_2021_3063886 crossref_primary_10_1109_TVT_2019_2914027 crossref_primary_10_1109_ACCESS_2024_3440926 crossref_primary_10_1080_10298436_2025_2538055 crossref_primary_10_3390_math12111614 crossref_primary_10_1177_09544070231192728 crossref_primary_10_1016_j_conengprac_2019_01_017 crossref_primary_10_1109_TCE_2023_3342140 crossref_primary_10_1007_s00521_024_09797_6 crossref_primary_10_1016_j_procs_2020_07_064 crossref_primary_10_1109_ACCESS_2021_3110435 crossref_primary_10_1109_TTE_2023_3307671 crossref_primary_10_1007_s11071_025_11632_z crossref_primary_10_1049_cth2_12211 crossref_primary_10_1007_s00521_024_10680_7 crossref_primary_10_1109_TMECH_2023_3236245 crossref_primary_10_1080_00423114_2024_2393340 crossref_primary_10_3390_machines10020121 crossref_primary_10_1007_s40815_023_01660_5 crossref_primary_10_1049_tje2_12333 crossref_primary_10_1109_TSMC_2023_3320808 crossref_primary_10_1016_j_biosystemseng_2021_07_014 crossref_primary_10_1016_j_ymssp_2020_106616 crossref_primary_10_1109_TNNLS_2024_3397393 crossref_primary_10_1109_LRA_2019_2956380 crossref_primary_10_1109_ACCESS_2021_3089615 crossref_primary_10_1016_j_sca_2023_100011 crossref_primary_10_1016_j_iot_2024_101233 crossref_primary_10_1080_00423114_2019_1590607 crossref_primary_10_1109_TTE_2022_3170059 crossref_primary_10_1177_1550147720916988 crossref_primary_10_1049_itr2_12051 crossref_primary_10_1016_j_jestch_2020_12_004 crossref_primary_10_1177_09544070211022904 crossref_primary_10_1007_s12239_021_0113_4 crossref_primary_10_1109_TIV_2024_3351131 crossref_primary_10_1186_s10033_023_00924_3 crossref_primary_10_1007_s12555_021_0117_x crossref_primary_10_1007_s42452_024_06091_x crossref_primary_10_1109_TTE_2024_3412955 crossref_primary_10_3390_app13010501 crossref_primary_10_3390_s20216052 crossref_primary_10_1177_1464419319895835 crossref_primary_10_1109_TVT_2021_3091809 crossref_primary_10_1155_2021_5549776 crossref_primary_10_1177_0954407020986289 crossref_primary_10_3390_s20215991 crossref_primary_10_1002_rnc_7727 crossref_primary_10_1109_ACCESS_2021_3083890 crossref_primary_10_1109_TTE_2021_3083679 crossref_primary_10_1016_j_engappai_2022_104717 crossref_primary_10_1177_09544070241272919 crossref_primary_10_1016_j_jterra_2020_12_001 crossref_primary_10_3390_electronics11193119 crossref_primary_10_3390_machines9120304 crossref_primary_10_1016_j_conengprac_2020_104630 crossref_primary_10_1049_iet_its_2018_5523 crossref_primary_10_1177_09544070231169117 crossref_primary_10_1049_iet_its_2020_0050 crossref_primary_10_1088_1742_6596_2608_1_012005 crossref_primary_10_1109_TITS_2022_3176970 crossref_primary_10_3390_s25051288 crossref_primary_10_1049_cth2_12538 crossref_primary_10_1177_09544070221127785 crossref_primary_10_3390_s22052013 crossref_primary_10_1177_10775463231181635 crossref_primary_10_1007_s00521_021_06101_8 crossref_primary_10_1109_TITS_2024_3382680 crossref_primary_10_1177_0954407020912097 crossref_primary_10_1080_00423114_2018_1537494 crossref_primary_10_1109_TAC_2023_3326707 crossref_primary_10_1016_j_jfranklin_2023_03_036 crossref_primary_10_3390_wevj14040084 crossref_primary_10_1177_09544070211033835 crossref_primary_10_1002_rob_22283 crossref_primary_10_1016_j_dt_2020_05_004 crossref_primary_10_3390_wevj15060221 crossref_primary_10_1109_TTE_2022_3204187 crossref_primary_10_1177_09544062241256476 crossref_primary_10_3233_JIFS_200625 crossref_primary_10_1109_TASE_2025_3600553 crossref_primary_10_1177_17298806251314977 crossref_primary_10_3390_s23010412 crossref_primary_10_3390_wevj16060336 crossref_primary_10_3390_en15239112 crossref_primary_10_1007_s11431_021_1995_1 crossref_primary_10_3390_machines11080845 crossref_primary_10_3390_s23156975 crossref_primary_10_1109_TSMC_2022_3166991 crossref_primary_10_3390_machines11030382 crossref_primary_10_1109_TITS_2020_2985124 crossref_primary_10_1109_ACCESS_2021_3065008 crossref_primary_10_1007_s40435_021_00771_x crossref_primary_10_1051_wujns_2025304379 crossref_primary_10_1177_14644193241277550 crossref_primary_10_1177_09544070221095660 crossref_primary_10_1109_TSMC_2020_2966631 crossref_primary_10_3390_app13042733 crossref_primary_10_1016_j_jfranklin_2023_03_053 crossref_primary_10_1007_s40435_023_01308_0 crossref_primary_10_1108_IR_10_2020_0231 |
| Cites_doi | 10.1109/TITS.2015.2498841 10.1002/rnc.3810 10.1007/978-3-642-34816-7 10.1016/j.ymssp.2016.07.024 10.1016/j.conengprac.2016.04.013 10.1109/TITS.2015.2498172 10.1016/j.mechatronics.2017.02.004 10.1016/j.conengprac.2013.10.008 10.1109/ACC.2014.6859253 10.1109/TVT.2012.2201513 10.1109/TIE.2016.2531021 10.1080/00423114.2014.902537 10.1109/TVT.2015.2473115 10.1016/j.ymssp.2016.12.017 10.1109/TVT.2016.2555853 10.1109/TCST.2007.894653 10.1007/s11071-012-0556-2 10.23919/ACC.2017.7963824 10.1109/TASE.2015.2498192 10.1109/TVT.2011.2106811 10.1016/j.ymssp.2015.09.017 10.1016/j.ymssp.2017.07.051 10.1080/00423114.2013.877148 10.1109/TCST.2016.2599783 10.1016/j.conengprac.2017.04.010 10.1109/TVT.2015.2445833 10.1080/00423114.2015.1055279 10.1109/TITS.2015.2513071 10.1109/SMC.2015.439 10.1109/ICMA.2016.7558773 10.1109/TCYB.2015.2411285 10.4271/2017-01-1565 10.1080/00423114.2012.672842 10.1177/0278364916645661 10.4271/2017-01-1584 10.23919/ACC.2017.7963748 10.1016/j.mechatronics.2014.12.008 10.1504/IJVAS.2012.051270 10.1109/TVT.2013.2281199 10.1109/TITS.2014.2303995 |
| ContentType | Journal Article |
| Copyright | 2018 Elsevier Ltd |
| Copyright_xml | – notice: 2018 Elsevier Ltd |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.conengprac.2018.04.007 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1873-6939 |
| EndPage | 53 |
| ExternalDocumentID | 10_1016_j_conengprac_2018_04_007 S0967066118300881 |
| GroupedDBID | --K --M .~1 0R~ 1B1 1~. 1~5 29F 4.4 457 4G. 5GY 5VS 6J9 6TJ 7-5 71M 8P~ 9JN AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AAXUO ABFNM ABFRF ABJNI ABMAC ABTAH ABXDB ABYKQ ACDAQ ACGFO ACGFS ACNNM ACRLP ADBBV ADEZE ADMUD ADTZH AEBSH AECPX AEFWE AEKER AENEX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA HVGLF HZ~ IHE J1W JJJVA KOM LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ SDF SDG SES SET SEW SPC SPCBC SST SSZ T5K UNMZH WUQ XFK XPP ZMT ZY4 ~G- 9DU AATTM AAXKI AAYWO AAYXX ABWVN ACLOT ACRPL ACVFH ADCNI ADNMO AEIPS AEUPX AFJKZ AFPUW AGQPQ AIGII AIIUN AKBMS AKRWK AKYEP ANKPU APXCP CITATION EFKBS ~HD |
| ID | FETCH-LOGICAL-c318t-5fd73d646822c9ae1ef8b28aca451468999cd9986fd2efec8717d0be8715bcdf3 |
| ISICitedReferencesCount | 226 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000436888100005&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0967-0661 |
| IngestDate | Sat Nov 29 07:09:35 EST 2025 Tue Nov 18 22:23:52 EST 2025 Fri Feb 23 02:35:44 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Adaptive neural network Path tracking Vehicle dynamics and control Autonomous vehicle Driving limits Backstepping variable structure control |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c318t-5fd73d646822c9ae1ef8b28aca451468999cd9986fd2efec8717d0be8715bcdf3 |
| PageCount | 13 |
| ParticipantIDs | crossref_primary_10_1016_j_conengprac_2018_04_007 crossref_citationtrail_10_1016_j_conengprac_2018_04_007 elsevier_sciencedirect_doi_10_1016_j_conengprac_2018_04_007 |
| PublicationCentury | 2000 |
| PublicationDate | July 2018 2018-07-00 |
| PublicationDateYYYYMMDD | 2018-07-01 |
| PublicationDate_xml | – month: 07 year: 2018 text: July 2018 |
| PublicationDecade | 2010 |
| PublicationTitle | Control engineering practice |
| PublicationYear | 2018 |
| Publisher | Elsevier Ltd |
| Publisher_xml | – name: Elsevier Ltd |
| References | Coban (b3) 2017 Fei, Ding (b6) 2012; 70 Lam, Leung, Chu (b25) 2016; 17 Ostafew, Schoellig, Barfoot (b37) 2016; 35 Xia, Pu, Li, Gao (b45) 2016; 63 Liu, Fan, Lv (b32) 2018; 100 Tan, Chen, Wang, Gao (b41) 2017; 64 (Accessed July 2017). Petrov, Nashashibi (b38) 2014; 15 (pp. 5115–5120). He, Chen, Yin (b15) 2016; 46 Jin, Yin, Chen (b20) 2015; 30 Liu, J. (2013). Radial Basis Function (RBF) neural network control for mechanical systems: design, analysis and Matlab simulation. Springer. Funke, Brown, Erlien, Gerdes (b7) 2017; 25 Rosolia, U., Carvalho, A., & Borrelli, F. (2017). Autonomous Racing using Learning Model Predictive Control. In Kritayakirana, Gerdes (b23) 2012; 50 Ni, Hu (b36) 2017; 90 Li, Chen, Li, Shaw, Nuchter (b29) 2014; 63 Falcone, Borrelli, Asgari, Tseng, Hrovat (b5) 2007; 15 He, X., Yang, K., Ji, X., Liu, Y., & Deng, W. (2017). Research on Vehicle Stability Control Strategy Based on Integrated-Electro-Hydraulic Brake System. WCX™ 17: SAE World Congress Experience, Apr: 2017-01-1565. Hwang, Yang, Hung (b18) 2017 Hu, Jing, Wang, Yan, Chadli (b17) 2016; 70–71 Lefèvre, Carvalho, Borrelli (b28) 2016; 13 Kritayakirana, Gerdes (b24) 2012; 10 Kim, Son, Chung (b22) 2016; 65 Thomas, Morris, Talbot, Fagerlind (b42) 2013; 57 Piltan, Mansoorzadeh, Zare, Shahryarzadeh, Akbari (b39) 2013; 3 Hang, Chen, Luo, Fang (b13) 2017; 1 Wang, Hu, Yan, Chadli (b43) 2016; 17 Guo, Liu, Cao, Chen, Yu, Lv (b11) 2017 Brown, Funke, Erlien, Gerdes (b1) 2017; 61 (pp. 4913–4918). Laurense, V. A., Goh, J. Y., & Gerdes, J. C. (2017). Path-tracking for autonomous vehicles at the limit of friction. In Zhu, Q., Huang, Z., Liu, D., & Dai, B. (2016). An adaptive path tracking method for autonomous land vehicle based on neural dynamic programming. In Kapania, Gerdes (b21) 2015; 53 Liu, Li, Yang, Ji, Wu (b33) 2017; 88 Zhang, Wang (b47) 2017; 66 Gao, Gray, Tseng, Borrelli (b9) 2014; 52 Gao, Y., Gray, A., Carvalho, A., Tseng, H. E., & Borrelli, F. (2014). Robust nonlinear predictive control for semiautonomous ground vehicles. In (pp. 5586-5591). Ma, Liu, Ji, Yang (b35) 2017 Chen, Wang (b2) 2011; 60 Hashemi, Khosravani, Khajepour, Kasaiezadeh, Chen, Litkouhi (b14) 2017; 43 Ma, Liu, Gao, Yang, Ji, Bo (b34) 2016 Lee, Choi, Yi, Shin, Ko (b27) 2014; 23 (pp. 1429–1434). Guo, Hu, Li, Wang (b12) 2012; 61 World Health Organization, (2015). Top 10 causes of death worldwide. Retrieved from Yu, R., Guo, H., Sun, Z., & Chen, H. (2015). MPC-based regional path tracking controller design for autonomous ground vehicles. In Ji, Khajepour, Melek, Huang (b19) 2017; 66 Li, Jia, Ran, Song, Wu (b30) 2014; 52 (pp. 2510–2515). González, Pérez, Milanés, Nashashibi (b10) 2016; 17 Eskandarian (b4) 2012 Kritayakirana (10.1016/j.conengprac.2018.04.007_b24) 2012; 10 10.1016/j.conengprac.2018.04.007_b40 Tan (10.1016/j.conengprac.2018.04.007_b41) 2017; 64 Guo (10.1016/j.conengprac.2018.04.007_b12) 2012; 61 Hwang (10.1016/j.conengprac.2018.04.007_b18) 2017 10.1016/j.conengprac.2018.04.007_b46 Chen (10.1016/j.conengprac.2018.04.007_b2) 2011; 60 10.1016/j.conengprac.2018.04.007_b26 Ni (10.1016/j.conengprac.2018.04.007_b36) 2017; 90 10.1016/j.conengprac.2018.04.007_b48 Xia (10.1016/j.conengprac.2018.04.007_b45) 2016; 63 Falcone (10.1016/j.conengprac.2018.04.007_b5) 2007; 15 10.1016/j.conengprac.2018.04.007_b44 Zhang (10.1016/j.conengprac.2018.04.007_b47) 2017; 66 Brown (10.1016/j.conengprac.2018.04.007_b1) 2017; 61 Ji (10.1016/j.conengprac.2018.04.007_b19) 2017; 66 Liu (10.1016/j.conengprac.2018.04.007_b32) 2018; 100 Eskandarian (10.1016/j.conengprac.2018.04.007_b4) 2012 Lee (10.1016/j.conengprac.2018.04.007_b27) 2014; 23 Li (10.1016/j.conengprac.2018.04.007_b29) 2014; 63 Thomas (10.1016/j.conengprac.2018.04.007_b42) 2013; 57 Wang (10.1016/j.conengprac.2018.04.007_b43) 2016; 17 Ma (10.1016/j.conengprac.2018.04.007_b35) 2017 Hang (10.1016/j.conengprac.2018.04.007_b13) 2017; 1 Hu (10.1016/j.conengprac.2018.04.007_b17) 2016; 70–71 Gao (10.1016/j.conengprac.2018.04.007_b9) 2014; 52 Jin (10.1016/j.conengprac.2018.04.007_b20) 2015; 30 Kim (10.1016/j.conengprac.2018.04.007_b22) 2016; 65 Kritayakirana (10.1016/j.conengprac.2018.04.007_b23) 2012; 50 Coban (10.1016/j.conengprac.2018.04.007_b3) 2017 Fei (10.1016/j.conengprac.2018.04.007_b6) 2012; 70 10.1016/j.conengprac.2018.04.007_b8 Petrov (10.1016/j.conengprac.2018.04.007_b38) 2014; 15 Piltan (10.1016/j.conengprac.2018.04.007_b39) 2013; 3 Ostafew (10.1016/j.conengprac.2018.04.007_b37) 2016; 35 Hashemi (10.1016/j.conengprac.2018.04.007_b14) 2017; 43 Li (10.1016/j.conengprac.2018.04.007_b30) 2014; 52 10.1016/j.conengprac.2018.04.007_b31 Kapania (10.1016/j.conengprac.2018.04.007_b21) 2015; 53 Liu (10.1016/j.conengprac.2018.04.007_b33) 2017; 88 Guo (10.1016/j.conengprac.2018.04.007_b11) 2017 10.1016/j.conengprac.2018.04.007_b16 He (10.1016/j.conengprac.2018.04.007_b15) 2016; 46 González (10.1016/j.conengprac.2018.04.007_b10) 2016; 17 Lam (10.1016/j.conengprac.2018.04.007_b25) 2016; 17 Funke (10.1016/j.conengprac.2018.04.007_b7) 2017; 25 Ma (10.1016/j.conengprac.2018.04.007_b34) 2016 Lefèvre (10.1016/j.conengprac.2018.04.007_b28) 2016; 13 |
| References_xml | – reference: (pp. 2510–2515). – reference: (pp. 5586-5591). – reference: Rosolia, U., Carvalho, A., & Borrelli, F. (2017). Autonomous Racing using Learning Model Predictive Control. In – reference: Zhu, Q., Huang, Z., Liu, D., & Dai, B. (2016). An adaptive path tracking method for autonomous land vehicle based on neural dynamic programming. In – start-page: 1 year: 2016 end-page: 9 ident: b34 article-title: Estimation of vehicle sideslip angle based on steering torque publication-title: The International Journal of Advanced Manufacturing Technology – volume: 30 start-page: 286 year: 2015 end-page: 296 ident: b20 article-title: Gain-scheduled robust control for lateral stability of four-wheel-independent-drive electric vehicles via linear parameter-varying technique publication-title: Mechatronics – volume: 50 start-page: 33 year: 2012 end-page: 51 ident: b23 article-title: Using the centre of percussion to design a steering controller for an autonomous race car publication-title: Vehicle System Dynamics – volume: 17 start-page: 1210 year: 2016 end-page: 1226 ident: b25 article-title: Autonomous-vehicle public transportation system: scheduling and admission control publication-title: IEEE Transactions on Intelligent Transportation Systems – year: 2017 ident: b18 article-title: Path tracking of an automatic ground vehicle with different payloads by hierarchical improved fuzzy dynamic sliding-mode control publication-title: IEEE Transactions on Fuzzy Systems – reference: . (Accessed July 2017). – volume: 10 start-page: 271 year: 2012 end-page: 296 ident: b24 article-title: Autonomous vehicle control at the limits of handling publication-title: International Journal of Vehicle Autonomous Systems – volume: 88 start-page: 25 year: 2017 end-page: 35 ident: b33 article-title: Estimation of tyre-road friction coefficient based on combined APF-IEKF and iteration algorithm publication-title: Mechanical Systems and Signal Processing – reference: Laurense, V. A., Goh, J. Y., & Gerdes, J. C. (2017). Path-tracking for autonomous vehicles at the limit of friction. In – volume: 3 start-page: 171 year: 2013 end-page: 185 ident: b39 article-title: Artificial tune of fuel ratio: Design a novel siso fuzzy backstepping adaptive variable structure control publication-title: International Journal of Electrical and Computer Engineering – reference: Gao, Y., Gray, A., Carvalho, A., Tseng, H. E., & Borrelli, F. (2014). Robust nonlinear predictive control for semiautonomous ground vehicles. In – volume: 61 start-page: 2913 year: 2012 end-page: 2924 ident: b12 article-title: Design of automatic steering controller for trajectory tracking of unmanned vehicles using genetic algorithms publication-title: IEEE Transactions on Vehicular Technology – reference: World Health Organization, (2015). Top 10 causes of death worldwide. Retrieved from – volume: 35 start-page: 1547 year: 2016 end-page: 1563 ident: b37 article-title: Robust Constrained Learning-based NMPC enabling reliable mobile robot path tracking publication-title: International Journal of Robotics Research – volume: 63 start-page: 3091 year: 2016 end-page: 3099 ident: b45 article-title: Lateral path tracking control of autonomous land vehicle based on ADRC and differential flatness publication-title: IEEE Transactions on Industrial Electronics – year: 2017 ident: b35 article-title: Investigation of a steering defect and its compensation using a steering-torque control strategy in an extreme driving situation publication-title: Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering – volume: 63 start-page: 540 year: 2014 end-page: 555 ident: b29 article-title: A sensor-fusion drivable-region and lane-detection system for autonomous vehicle navigation in challenging road scenarios publication-title: IEEE Transactions on Vehicular Technology – volume: 64 start-page: 15 year: 2017 end-page: 26 ident: b41 article-title: Shared control for lane departure prevention based on the safe envelope of steering wheel angle publication-title: Control Engineering Practice – volume: 61 start-page: 307 year: 2017 end-page: 316 ident: b1 article-title: Safe driving envelopes for path tracking in autonomous vehicles publication-title: Control Engineering Practice – volume: 60 start-page: 839 year: 2011 end-page: 848 ident: b2 article-title: Adaptive vehicle speed control with input injections for longitudinal motion independent road frictional condition estimation publication-title: IEEE Transactions on Vehicular Technology – volume: 15 start-page: 566 year: 2007 end-page: 580 ident: b5 article-title: Predictive active steering control for autonomous vehicle systems publication-title: IEEE Transactions on Control Systems Technology – volume: 17 start-page: 1135 year: 2016 end-page: 1145 ident: b10 article-title: A review of motion planning techniques for automated vehicles publication-title: IEEE Transactions on Intelligent Transportation Systems – reference: (pp. 5115–5120). – volume: 65 start-page: 4379 year: 2016 end-page: 4392 ident: b22 article-title: Torque-overlay-based robust steering wheel angle control of electrical power steering for a lane-keeping system of automated vehicles publication-title: IEEE Transactions on Vehicular Technology – volume: 23 start-page: 1 year: 2014 end-page: 13 ident: b27 article-title: Lane-keeping assistance control algorithm using differential braking to prevent unintended lane departures publication-title: Control Engineering Practice – volume: 70 start-page: 1563 year: 2012 end-page: 1573 ident: b6 article-title: Adaptive sliding mode control of dynamic system using rbf neural network publication-title: Nonlinear Dynamics – volume: 17 start-page: 2063 year: 2016 end-page: 2074 ident: b43 article-title: Composite nonlinear feedback control for path following of four-wheel independently actuated autonomous ground vehicles publication-title: IEEE Transactions on Intelligent Transportation Systems – reference: He, X., Yang, K., Ji, X., Liu, Y., & Deng, W. (2017). Research on Vehicle Stability Control Strategy Based on Integrated-Electro-Hydraulic Brake System. WCX™ 17: SAE World Congress Experience, Apr: 2017-01-1565. – reference: Liu, J. (2013). Radial Basis Function (RBF) neural network control for mechanical systems: design, analysis and Matlab simulation. Springer. – reference: Yu, R., Guo, H., Sun, Z., & Chen, H. (2015). MPC-based regional path tracking controller design for autonomous ground vehicles. In – volume: 90 start-page: 154 year: 2017 end-page: 174 ident: b36 article-title: Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car publication-title: Mechanical Systems and Signal Processing – volume: 43 start-page: 28 year: 2017 end-page: 39 ident: b14 article-title: Longitudinal vehicle state estimation using nonlinear and parameter-varying observers publication-title: Mechatronics – volume: 66 start-page: 3685 year: 2017 end-page: 3702 ident: b47 article-title: Active steering actuator fault detection for an automatically-steered electric ground vehicle publication-title: IEEE Transactions on Vehicular Technology – volume: 57 start-page: 13 year: 2013 end-page: 22 ident: b42 article-title: Identifying the causes of road crashes in Europe publication-title: Annals of Advances in Automotive Medicine – volume: 52 start-page: 802 year: 2014 end-page: 823 ident: b9 article-title: A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles publication-title: Vehicle System Dynamics – volume: 25 start-page: 1204 year: 2017 end-page: 1216 ident: b7 article-title: Collision avoidance and stabilization for autonomous vehicles in emergency scenarios publication-title: IEEE Transactions on Control Systems Technology – volume: 1 year: 2017 ident: b13 article-title: Robust control of a four-wheel-independent-steering electric vehicle for path tracking publication-title: SAE International Journal of Vehicle Dynamics, Stability, and NVH – volume: 15 start-page: 1643 year: 2014 end-page: 1656 ident: b38 article-title: Modeling and nonlinear adaptive control for autonomous vehicle overtaking publication-title: IEEE Transactions on Intelligent Transportation Systems – volume: 13 start-page: 32 year: 2016 end-page: 42 ident: b28 article-title: A learning-based framework for velocity control in autonomous driving publication-title: IEEE Transactions on Automation Science and Engineering – start-page: 1 year: 2017 end-page: 12 ident: b11 article-title: Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles publication-title: Mechatronics – volume: 70–71 start-page: 414 year: 2016 end-page: 427 ident: b17 article-title: Robust publication-title: Mechanical Systems and Signal Processing – year: 2017 ident: b3 article-title: Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application publication-title: International Journal of Robust and Nonlinear Control – volume: 53 start-page: 1687 year: 2015 end-page: 1704 ident: b21 article-title: Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling publication-title: Vehicle System Dynamics – reference: (pp. 1429–1434). – volume: 66 start-page: 952 year: 2017 end-page: 964 ident: b19 article-title: Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints publication-title: IEEE Transactions on Vehicular Technology – volume: 46 start-page: 620 year: 2016 end-page: 629 ident: b15 article-title: Adaptive neural network control of an uncertain robot with full-state constraints publication-title: IEEE Transactions on Cybernetics – volume: 52 start-page: 280 year: 2014 end-page: 308 ident: b30 article-title: A variable structure extended kalman filter for vehicle sideslip angle estimation on a low friction road publication-title: Vehicle System Dynamics – year: 2012 ident: b4 article-title: Handbook of intelligent vehicles – reference: (pp. 4913–4918). – volume: 100 start-page: 605 year: 2018 end-page: 616 ident: b32 article-title: An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles publication-title: Mechanical Systems and Signal Processing – volume: 17 start-page: 1135 issue: 4 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b10 article-title: A review of motion planning techniques for automated vehicles publication-title: IEEE Transactions on Intelligent Transportation Systems doi: 10.1109/TITS.2015.2498841 – year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b3 article-title: Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application publication-title: International Journal of Robust and Nonlinear Control doi: 10.1002/rnc.3810 – ident: 10.1016/j.conengprac.2018.04.007_b31 doi: 10.1007/978-3-642-34816-7 – year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b18 article-title: Path tracking of an automatic ground vehicle with different payloads by hierarchical improved fuzzy dynamic sliding-mode control publication-title: IEEE Transactions on Fuzzy Systems – start-page: 1 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b34 article-title: Estimation of vehicle sideslip angle based on steering torque publication-title: The International Journal of Advanced Manufacturing Technology – volume: 88 start-page: 25 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b33 article-title: Estimation of tyre-road friction coefficient based on combined APF-IEKF and iteration algorithm publication-title: Mechanical Systems and Signal Processing doi: 10.1016/j.ymssp.2016.07.024 – volume: 61 start-page: 307 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b1 article-title: Safe driving envelopes for path tracking in autonomous vehicles publication-title: Control Engineering Practice doi: 10.1016/j.conengprac.2016.04.013 – volume: 17 start-page: 2063 issue: 7 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b43 article-title: Composite nonlinear feedback control for path following of four-wheel independently actuated autonomous ground vehicles publication-title: IEEE Transactions on Intelligent Transportation Systems doi: 10.1109/TITS.2015.2498172 – volume: 43 start-page: 28 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b14 article-title: Longitudinal vehicle state estimation using nonlinear and parameter-varying observers publication-title: Mechatronics doi: 10.1016/j.mechatronics.2017.02.004 – volume: 23 start-page: 1 year: 2014 ident: 10.1016/j.conengprac.2018.04.007_b27 article-title: Lane-keeping assistance control algorithm using differential braking to prevent unintended lane departures publication-title: Control Engineering Practice doi: 10.1016/j.conengprac.2013.10.008 – ident: 10.1016/j.conengprac.2018.04.007_b8 doi: 10.1109/ACC.2014.6859253 – volume: 61 start-page: 2913 issue: 7 year: 2012 ident: 10.1016/j.conengprac.2018.04.007_b12 article-title: Design of automatic steering controller for trajectory tracking of unmanned vehicles using genetic algorithms publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2012.2201513 – year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b35 article-title: Investigation of a steering defect and its compensation using a steering-torque control strategy in an extreme driving situation publication-title: Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering – volume: 63 start-page: 3091 issue: 5 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b45 article-title: Lateral path tracking control of autonomous land vehicle based on ADRC and differential flatness publication-title: IEEE Transactions on Industrial Electronics doi: 10.1109/TIE.2016.2531021 – volume: 52 start-page: 802 issue: 6 year: 2014 ident: 10.1016/j.conengprac.2018.04.007_b9 article-title: A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles publication-title: Vehicle System Dynamics doi: 10.1080/00423114.2014.902537 – volume: 65 start-page: 4379 issue: 6 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b22 article-title: Torque-overlay-based robust steering wheel angle control of electrical power steering for a lane-keeping system of automated vehicles publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2015.2473115 – volume: 90 start-page: 154 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b36 article-title: Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car publication-title: Mechanical Systems and Signal Processing doi: 10.1016/j.ymssp.2016.12.017 – volume: 66 start-page: 952 issue: 2 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b19 article-title: Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2016.2555853 – volume: 15 start-page: 566 issue: 3 year: 2007 ident: 10.1016/j.conengprac.2018.04.007_b5 article-title: Predictive active steering control for autonomous vehicle systems publication-title: IEEE Transactions on Control Systems Technology doi: 10.1109/TCST.2007.894653 – volume: 70 start-page: 1563 issue: 2 year: 2012 ident: 10.1016/j.conengprac.2018.04.007_b6 article-title: Adaptive sliding mode control of dynamic system using rbf neural network publication-title: Nonlinear Dynamics doi: 10.1007/s11071-012-0556-2 – ident: 10.1016/j.conengprac.2018.04.007_b26 doi: 10.23919/ACC.2017.7963824 – volume: 13 start-page: 32 issue: 1 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b28 article-title: A learning-based framework for velocity control in autonomous driving publication-title: IEEE Transactions on Automation Science and Engineering doi: 10.1109/TASE.2015.2498192 – volume: 60 start-page: 839 issue: 3 year: 2011 ident: 10.1016/j.conengprac.2018.04.007_b2 article-title: Adaptive vehicle speed control with input injections for longitudinal motion independent road frictional condition estimation publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2011.2106811 – volume: 70–71 start-page: 414 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b17 article-title: Robust H∞ output-feedback control for path following of autonomous ground vehicles publication-title: Mechanical Systems and Signal Processing doi: 10.1016/j.ymssp.2015.09.017 – volume: 57 start-page: 13 year: 2013 ident: 10.1016/j.conengprac.2018.04.007_b42 article-title: Identifying the causes of road crashes in Europe publication-title: Annals of Advances in Automotive Medicine – volume: 100 start-page: 605 year: 2018 ident: 10.1016/j.conengprac.2018.04.007_b32 article-title: An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles publication-title: Mechanical Systems and Signal Processing doi: 10.1016/j.ymssp.2017.07.051 – volume: 52 start-page: 280 issue: 2 year: 2014 ident: 10.1016/j.conengprac.2018.04.007_b30 article-title: A variable structure extended kalman filter for vehicle sideslip angle estimation on a low friction road publication-title: Vehicle System Dynamics doi: 10.1080/00423114.2013.877148 – year: 2012 ident: 10.1016/j.conengprac.2018.04.007_b4 – volume: 25 start-page: 1204 issue: 4 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b7 article-title: Collision avoidance and stabilization for autonomous vehicles in emergency scenarios publication-title: IEEE Transactions on Control Systems Technology doi: 10.1109/TCST.2016.2599783 – volume: 64 start-page: 15 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b41 article-title: Shared control for lane departure prevention based on the safe envelope of steering wheel angle publication-title: Control Engineering Practice doi: 10.1016/j.conengprac.2017.04.010 – volume: 3 start-page: 171 issue: 2 year: 2013 ident: 10.1016/j.conengprac.2018.04.007_b39 article-title: Artificial tune of fuel ratio: Design a novel siso fuzzy backstepping adaptive variable structure control publication-title: International Journal of Electrical and Computer Engineering – volume: 66 start-page: 3685 issue: 5 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b47 article-title: Active steering actuator fault detection for an automatically-steered electric ground vehicle publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2015.2445833 – volume: 53 start-page: 1687 issue: 12 year: 2015 ident: 10.1016/j.conengprac.2018.04.007_b21 article-title: Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling publication-title: Vehicle System Dynamics doi: 10.1080/00423114.2015.1055279 – volume: 17 start-page: 1210 issue: 5 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b25 article-title: Autonomous-vehicle public transportation system: scheduling and admission control publication-title: IEEE Transactions on Intelligent Transportation Systems doi: 10.1109/TITS.2015.2513071 – ident: 10.1016/j.conengprac.2018.04.007_b46 doi: 10.1109/SMC.2015.439 – ident: 10.1016/j.conengprac.2018.04.007_b48 doi: 10.1109/ICMA.2016.7558773 – volume: 46 start-page: 620 issue: 3 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b15 article-title: Adaptive neural network control of an uncertain robot with full-state constraints publication-title: IEEE Transactions on Cybernetics doi: 10.1109/TCYB.2015.2411285 – ident: 10.1016/j.conengprac.2018.04.007_b16 doi: 10.4271/2017-01-1565 – volume: 50 start-page: 33 issue: Suppl. 1 year: 2012 ident: 10.1016/j.conengprac.2018.04.007_b23 article-title: Using the centre of percussion to design a steering controller for an autonomous race car publication-title: Vehicle System Dynamics doi: 10.1080/00423114.2012.672842 – volume: 35 start-page: 1547 issue: 13 year: 2016 ident: 10.1016/j.conengprac.2018.04.007_b37 article-title: Robust Constrained Learning-based NMPC enabling reliable mobile robot path tracking publication-title: International Journal of Robotics Research doi: 10.1177/0278364916645661 – volume: 1 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b13 article-title: Robust control of a four-wheel-independent-steering electric vehicle for path tracking publication-title: SAE International Journal of Vehicle Dynamics, Stability, and NVH doi: 10.4271/2017-01-1584 – ident: 10.1016/j.conengprac.2018.04.007_b40 doi: 10.23919/ACC.2017.7963748 – ident: 10.1016/j.conengprac.2018.04.007_b44 – volume: 30 start-page: 286 year: 2015 ident: 10.1016/j.conengprac.2018.04.007_b20 article-title: Gain-scheduled robust control for lateral stability of four-wheel-independent-drive electric vehicles via linear parameter-varying technique publication-title: Mechatronics doi: 10.1016/j.mechatronics.2014.12.008 – volume: 10 start-page: 271 issue: 4 year: 2012 ident: 10.1016/j.conengprac.2018.04.007_b24 article-title: Autonomous vehicle control at the limits of handling publication-title: International Journal of Vehicle Autonomous Systems doi: 10.1504/IJVAS.2012.051270 – volume: 63 start-page: 540 issue: 2 year: 2014 ident: 10.1016/j.conengprac.2018.04.007_b29 article-title: A sensor-fusion drivable-region and lane-detection system for autonomous vehicle navigation in challenging road scenarios publication-title: IEEE Transactions on Vehicular Technology doi: 10.1109/TVT.2013.2281199 – start-page: 1 year: 2017 ident: 10.1016/j.conengprac.2018.04.007_b11 article-title: Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles publication-title: Mechatronics – volume: 15 start-page: 1643 issue: 4 year: 2014 ident: 10.1016/j.conengprac.2018.04.007_b38 article-title: Modeling and nonlinear adaptive control for autonomous vehicle overtaking publication-title: IEEE Transactions on Intelligent Transportation Systems doi: 10.1109/TITS.2014.2303995 |
| SSID | ssj0016991 |
| Score | 2.6147768 |
| Snippet | Parametric modeling uncertainties and unknown external disturbance are major concerns in the development of advanced lateral motion controller for autonomous... |
| SourceID | crossref elsevier |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 41 |
| SubjectTerms | Adaptive neural network Autonomous vehicle Backstepping variable structure control Driving limits Path tracking Vehicle dynamics and control |
| Title | Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits |
| URI | https://dx.doi.org/10.1016/j.conengprac.2018.04.007 |
| Volume | 76 |
| WOSCitedRecordID | wos000436888100005&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 customDbUrl: eissn: 1873-6939 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0016991 issn: 0967-0661 databaseCode: AIEXJ dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1LbxMxELailgMcEFAQ4SUfuEWukuzDtjhFVRGgquJQpNxWftKU1TZKdtP-h_5pxmuvdwUVLUhcdiNLduKdL-Px7DefEXpvDFMzlQiiwabESboRSVVGrOFmmmieUtnqzJ7Q01O2XPKvo9FNVwuzK2lVsetrvv6vpoY2MLYrnf0Lc8dBoQE-g9HhCmaH670Mv9Bi7XwYcVKVooRbS_Qmbr3Sk82lbLb1pBSu8ric-EN8ImG9pVQ2tSt0cNTYnTl3o7uCR71ZtamH0hVEbYch7VHoa3plw1h7Ffk5LWdg2Zirpk--tk2Azu8_mp4XtPMcgL5A7WTVtMuEOG9WwxTFjEU6a8w15o5j51XXO7dLh37Ti1-FFdirB__m232a4QJMU8GM3EQcM48dev3zfj3r3uH_ssxF8mHHa7so-pEKN1IxTYtWmWB_TjMOLnJ_8fl4-SW-lMq5P4Cxm00ghnm64O2_6vZoZxDBnD1Bj8PWAy88ZJ6ikameoUcDQcoDpP8IHuzBgwN4sAcPDuDBAB7cgwcH8GBR4wAe7MHzHH37eHx29ImEcziIAo9fk8xqmug8zSGYVFyYmbFMzplQIs1c5R7sMZSGbXtu9dxYo2APTvVUGrhnUmmbvEB7FTyelwhTo3KZcpWkzKYq19JMGZdCJFZyasV8jGj3vAoVROrdWSllcZfVxmgWe669UMs9-nzoTFKEgNMHkgVg7s7er_7hG1-jh_0f5A3aqzeNeYseqF292m7eBcD9BJCHr_E |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Adaptive-neural-network-based+robust+lateral+motion+control+for+autonomous+vehicle+at+driving+limits&rft.jtitle=Control+engineering+practice&rft.au=Ji%2C+Xuewu&rft.au=He%2C+Xiangkun&rft.au=Lv%2C+Chen&rft.au=Liu%2C+Yahui&rft.date=2018-07-01&rft.issn=0967-0661&rft.volume=76&rft.spage=41&rft.epage=53&rft_id=info:doi/10.1016%2Fj.conengprac.2018.04.007&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_conengprac_2018_04_007 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0967-0661&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0967-0661&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0967-0661&client=summon |