{"id":"https://openalex.org/W7225430133","doi":"https://doi.org/10.1371/journal.pone.0362314","title":"Finite-time robust motion control of intelligent vehicles based on neural approximation and disturbance estimation","display_name":"Finite-time robust motion control of intelligent vehicles based on neural approximation and disturbance estimation","publication_year":2026,"publication_date":"2026-11-06","ids":{"openalex":"https://openalex.org/W7225430133","doi":"https://doi.org/10.1371/journal.pone.0362314","pmid":"https://pubmed.ncbi.nlm.nih.gov/42993803","pmcid":"https://www.ncbi.nlm.nih.gov/pmc/articles/13743043"},"language":"en","primary_location":{"id":"doi:10.1371/journal.pone.0362314","doi":"https://doi.org/10.1371/journal.pone.0362314","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pone.0362314","pdf_url":"https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0362314&type=printable","source":{"id":"https://openalex.org/S202381698","display_name":"PLoS ONE","issn_l":"1932-6203","issn":["1932-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","erih-plus","jufo-1","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLOS One","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0362314&type=printable","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5160995160","display_name":"Lijuan Zhang","orcid":"https://orcid.org/0009-0003-3360-1742","observed_orcids":["https://orcid.org/0009-0003-3360-1742"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lijuan Zhang","raw_affiliation_strings":["Nantong Open University"],"raw_orcid":"https://orcid.org/0009-0003-3360-1742","affiliations":[{"raw_affiliation_string":"Nantong Open University","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5160995160"],"corresponding_institution_ids":[],"apc_list":{"value":2382,"currency":"USD","value_usd":2382},"apc_paid":{"value":2382,"currency":"USD","value_usd":2382},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.78173926,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":"11","first_page":"e0362314","last_page":"e0362314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.5127000212669373,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.5127000212669373,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.4171999990940094,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.05990000069141388,"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":[{"id":"https://openalex.org/keywords/nonsingular-fast-terminal-sliding-mode","display_name":"nonsingular fast terminal sliding mode","score":0.9459999799728394},{"id":"https://openalex.org/keywords/finite-time-disturbance-observer","display_name":"finite-time disturbance observer","score":0.9089999794960022},{"id":"https://openalex.org/keywords/disturbance-rejection","display_name":"disturbance rejection","score":0.9390000104904175},{"id":"https://openalex.org/keywords/parameter-uncertainty","display_name":"parameter uncertainty","score":0.7559999823570251},{"id":"https://openalex.org/keywords/double-lane-change","display_name":"double lane change","score":0.6499999761581421},{"id":"https://openalex.org/keywords/chattering-reduction","display_name":"chattering reduction","score":0.7049999833106995},{"id":"https://openalex.org/keywords/tracking-accuracy","display_name":"tracking accuracy","score":0.3970000147819519}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8313999772071838},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5875999927520752},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5753999948501587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5368000268936157},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5102999806404114},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4934999942779541},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.45980000495910645},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44749999046325684},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.42590001225471497},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.41819998621940613},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3984000086784363},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3978999853134155},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3903999924659729},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.38260000944137573},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.37459999322891235},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.3546999990940094},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3427000045776367},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29820001125335693},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.2957000136375427},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.29319998621940613},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.2800999879837036},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2703000009059906},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.25270000100135803}],"mesh":[{"descriptor_ui":"D000097786","descriptor_name":"Soft Computing","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000098423","descriptor_name":"Radial Basis Function Networks","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1371/journal.pone.0362314","doi":"https://doi.org/10.1371/journal.pone.0362314","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pone.0362314","pdf_url":"https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0362314&type=printable","source":{"id":"https://openalex.org/S202381698","display_name":"PLoS ONE","issn_l":"1932-6203","issn":["1932-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","erih-plus","jufo-1","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLOS One","raw_type":"journal-article"},{"id":"pmid:42993803","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/42993803","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PloS one","raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1371/journal.pone.0362314","doi":"https://doi.org/10.1371/journal.pone.0362314","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pone.0362314","pdf_url":"https://journals.plos.org/plosone/article/file?id=10.1371/journal.pone.0362314&type=printable","source":{"id":"https://openalex.org/S202381698","display_name":"PLoS ONE","issn_l":"1932-6203","issn":["1932-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","erih-plus","jufo-1","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLOS One","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7225430133.pdf","grobid_xml":"https://content.openalex.org/works/W7225430133.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W2080164332","https://openalex.org/W2343693428","https://openalex.org/W2800328785","https://openalex.org/W2883184306","https://openalex.org/W3170988765","https://openalex.org/W4225790826","https://openalex.org/W4229039596","https://openalex.org/W4313534757","https://openalex.org/W4319069491","https://openalex.org/W4376851267","https://openalex.org/W4387936200","https://openalex.org/W4390692275","https://openalex.org/W4392529955","https://openalex.org/W4399282679","https://openalex.org/W4399467806","https://openalex.org/W4401657809","https://openalex.org/W4406785097","https://openalex.org/W4409829664","https://openalex.org/W4410316544","https://openalex.org/W4410374564","https://openalex.org/W4410375825","https://openalex.org/W4410808731","https://openalex.org/W4411423746","https://openalex.org/W4412831554","https://openalex.org/W4414299999","https://openalex.org/W7118581723","https://openalex.org/W7140503544","https://openalex.org/W7151947416","https://openalex.org/W7161725379","https://openalex.org/W7171853022","https://openalex.org/W7202201604","https://openalex.org/W7203669780"],"related_works":["https://openalex.org/W7204955145","https://openalex.org/W4415684772","https://openalex.org/W2982435901","https://openalex.org/W4386056647","https://openalex.org/W4405846797","https://openalex.org/W4405306258","https://openalex.org/W2963659670","https://openalex.org/W2811510003","https://openalex.org/W4402868852","https://openalex.org/W2947573737"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,70,76,82,87,128],"inherent":[4],"trade":[5],"off":[6],"between":[7],"rapid":[8],"convergence":[9,68,151],"and":[10,24,54,91,112,121,139,153],"high\u2011precision":[11],"disturbance":[12,58,140],"rejection":[13],"in":[14,95,146],"intelligent":[15],"vehicle":[16],"motion":[17],"control":[18,33,138,145],"under":[19,108],"severe":[20],"nonlinearities,":[21],"parametric":[22],"uncertainties,":[23],"time":[25,57,67],"varying":[26,78,93],"external":[27],"perturbations.":[28],"A":[29],"composite":[30],"finite\u2011time":[31],"robust":[32],"strategy":[34],"is":[35],"proposed":[36,129],"by":[37],"synergistically":[38],"integrating":[39],"a":[40,55,96],"nonsingular":[41,134],"fast":[42,92],"terminal":[43,135],"sliding":[44,136,143],"mode":[45,137,144],"(NFTSM)":[46],"surface,":[47],"radial":[48],"basis":[49],"function":[50],"neural":[51,88],"networks":[52],"(RBFNN),":[53],"finite":[56,66],"observer":[59,141],"(FTDO).":[60],"The":[61,73],"NFTSM":[62],"guarantees":[63],"singularity":[64],"free":[65],"of":[69,148],"tracking":[71,149],"errors.":[72],"RBFNN":[74],"approximates":[75],"slowly":[77],"unknown":[79],"dynamics,":[80],"while":[81],"FTDO":[83],"compensates":[84],"online":[85],"for":[86],"approximation":[89],"residual":[90],"disturbances":[94],"cascaded":[97],"\"coarse":[98],"to":[99],"fine\"":[100],"manner.":[101],"Lyapunov-based":[102],"Extensive":[103],"co\u2011simulations":[104],"with":[105,116],"MATLAB/Simulink,":[106],"conducted":[107],"double":[109],"lane":[110],"change":[111],"sinusoidal":[113],"path":[114],"scenarios":[115],"simultaneous":[117],"road":[118],"friction":[119],"drops":[120],"stochastic":[122],"lateral":[123],"wind":[124],"gusts,":[125],"demonstrate":[126],"that":[127],"framework":[130],"significantly":[131],"outperforms":[132],"conventional":[133],"based":[142],"terms":[147],"accuracy,":[150],"speed,":[152],"chattering":[154],"suppression.":[155]},"counts_by_year":[],"updated_date":"2026-11-09T13:22:03.289127","created_date":"2026-11-07T00:00:00"}