{"id":"https://openalex.org/W7225073409","doi":"https://doi.org/10.1016/j.compag.2026.112585","title":"Fusion control strategy via soft actor-critic reinforcement learning and nonlinear model predictive control: Minimizing off-tracking for agricultural autonomous tractor-trailer systems","display_name":"Fusion control strategy via soft actor-critic reinforcement learning and nonlinear model predictive control: Minimizing off-tracking for agricultural autonomous tractor-trailer systems","publication_year":2026,"publication_date":"2026-11-01","ids":{"openalex":"https://openalex.org/W7225073409","doi":"https://doi.org/10.1016/j.compag.2026.112585"},"language":"en","primary_location":{"id":"doi:10.1016/j.compag.2026.112585","doi":"https://doi.org/10.1016/j.compag.2026.112585","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.112585","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"},"volume":null,"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/A5039041142","display_name":"Yunpeng Jing","orcid":"https://orcid.org/0000-0002-2592-5072","observed_orcids":["https://orcid.org/0000-0002-2592-5072"]},"institutions":[{"id":"https://openalex.org/I31683504","display_name":"Beijing Forestry University","ror":"https://ror.org/04xv2pc41","country_code":"CN","type":"education","lineage":["https://openalex.org/I1327237609","https://openalex.org/I31683504","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunpeng Jing","raw_affiliation_strings":["Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","School of Technology, Beijing Forestry University, Beijing, 100083, China"],"raw_orcid":"https://orcid.org/0009-0004-5260-3652","affiliations":[{"raw_affiliation_string":"Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]},{"raw_affiliation_string":"School of Technology, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101261658","display_name":"Zilan He","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I31683504","display_name":"Beijing Forestry University","ror":"https://ror.org/04xv2pc41","country_code":"CN","type":"education","lineage":["https://openalex.org/I1327237609","https://openalex.org/I31683504","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichang He","raw_affiliation_strings":["Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","School of Technology, Beijing Forestry University, Beijing, 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]},{"raw_affiliation_string":"School of Technology, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044612652","display_name":"Bin Xie","orcid":"https://orcid.org/0000-0003-0658-8717","observed_orcids":["https://orcid.org/0000-0003-0658-8717"]},"institutions":[{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Xie","raw_affiliation_strings":["College of Engineering, China Agricultural University, Beijing, 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, China Agricultural University, Beijing, 100083, China","institution_ids":["https://openalex.org/I52158045"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5152127487","display_name":"Haoyu Zhu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I31683504","display_name":"Beijing Forestry University","ror":"https://ror.org/04xv2pc41","country_code":"CN","type":"education","lineage":["https://openalex.org/I1327237609","https://openalex.org/I31683504","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Zhu","raw_affiliation_strings":["Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","School of Technology, Beijing Forestry University, Beijing, 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]},{"raw_affiliation_string":"School of Technology, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160371758","display_name":"Gang Liu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210151987","display_name":"Ministry of Agriculture and Rural Affairs","ror":"https://ror.org/05ckt8b96","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210127390","https://openalex.org/I4210151987"]},{"id":"https://openalex.org/I52158045","display_name":"China Agricultural University","ror":"https://ror.org/04v3ywz14","country_code":"CN","type":"education","lineage":["https://openalex.org/I52158045"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Liu","raw_affiliation_strings":["Key Lab of Smart Agriculture Systems, Ministry of Education, China Agricultural University, Beijing, 100083, China","Key Laboratory of Agricultural Information Acquisition Technology, Ministry of Agriculture and Rural Affairs, China Agricultural University, Beijing, 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Lab of Smart Agriculture Systems, Ministry of Education, China Agricultural University, Beijing, 100083, China","institution_ids":["https://openalex.org/I52158045"]},{"raw_affiliation_string":"Key Laboratory of Agricultural Information Acquisition Technology, Ministry of Agriculture and Rural Affairs, China Agricultural University, Beijing, 100083, China","institution_ids":["https://openalex.org/I4210151987","https://openalex.org/I52158045"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038685862","display_name":"Lei Yan","orcid":"https://orcid.org/0000-0002-8467-8331","observed_orcids":["https://orcid.org/0000-0002-8467-8331"]},"institutions":[{"id":"https://openalex.org/I31683504","display_name":"Beijing Forestry University","ror":"https://ror.org/04xv2pc41","country_code":"CN","type":"education","lineage":["https://openalex.org/I1327237609","https://openalex.org/I31683504","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Yan","raw_affiliation_strings":["Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","School of Technology, Beijing Forestry University, Beijing, 100083, China"],"raw_orcid":"https://orcid.org/0000-0002-8467-8331","affiliations":[{"raw_affiliation_string":"Key Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]},{"raw_affiliation_string":"School of Technology, Beijing Forestry University, Beijing, 100083, China","institution_ids":["https://openalex.org/I31683504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038685862","https://openalex.org/A5039041142"],"corresponding_institution_ids":["https://openalex.org/I31683504"],"apc_list":{"value":3870,"currency":"USD","value_usd":3870},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.76996424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"112585","last_page":"112585"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.5806000232696533,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.5806000232696533,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.22920000553131104,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.10029999911785126,"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"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7501999735832214},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7419999837875366},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.6363999843597412},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45170000195503235},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44530001282691956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43959999084472656},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41920000314712524},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4154999852180481},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.4072999954223633},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.40549999475479126},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3944000005722046},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37929999828338623},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3725000023841858},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3447999954223633},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32440000772476196},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.320499986410141},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2989000082015991},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2648000121116638},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C153240184","wikidata":"https://www.wikidata.org/wiki/Q3243772","display_name":"Control variable","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.compag.2026.112585","doi":"https://doi.org/10.1016/j.compag.2026.112585","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.compag.2026.112585","pdf_url":null,"source":{"id":"https://openalex.org/S116775814","display_name":"Computers and Electronics in Agriculture","issn_l":"0168-1699","issn":["0168-1699","1872-7107"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computers and Electronics in Agriculture","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1980900857","https://openalex.org/W3047772261","https://openalex.org/W3128451919","https://openalex.org/W3216369076","https://openalex.org/W4210838527","https://openalex.org/W4220902576","https://openalex.org/W4220977717","https://openalex.org/W4224250082","https://openalex.org/W4285200781","https://openalex.org/W4379930243","https://openalex.org/W4385267286","https://openalex.org/W4386395381","https://openalex.org/W4394805998","https://openalex.org/W4396577536","https://openalex.org/W4399800600","https://openalex.org/W4401109681","https://openalex.org/W4401112666","https://openalex.org/W4401635116","https://openalex.org/W4405667246","https://openalex.org/W4410377907","https://openalex.org/W4410579475","https://openalex.org/W4414322004","https://openalex.org/W4414867795","https://openalex.org/W4416853742","https://openalex.org/W7083193936","https://openalex.org/W7110864966","https://openalex.org/W7124711552","https://openalex.org/W7128591784"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2026-11-03T00:00:00"}