{"id":"https://openalex.org/W7225787015","doi":"https://doi.org/10.1177/09544070261504935","title":"Nonlinear model predictive control for lateral path tracking of intelligent vehicles considering model uncertainties","display_name":"Nonlinear model predictive control for lateral path tracking of intelligent vehicles considering model uncertainties","publication_year":2026,"publication_date":"2026-11-11","ids":{"openalex":"https://openalex.org/W7225787015","doi":"https://doi.org/10.1177/09544070261504935"},"language":"en","primary_location":{"id":"doi:10.1177/09544070261504935","doi":"https://doi.org/10.1177/09544070261504935","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09544070261504935","pdf_url":null,"source":{"id":"https://openalex.org/S16239639","display_name":"Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering","issn_l":"0954-4070","issn":["0954-4070","2041-2991"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"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/A5117641060","display_name":"Zhixuan Fan","orcid":"https://orcid.org/0009-0008-6088-3382","observed_orcids":["https://orcid.org/0009-0008-6088-3382"]},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhixuan Fan","raw_affiliation_strings":["School of Advanced Manufacturing, Nanchang University, People\u2019s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Nanchang University, People\u2019s Republic of China","institution_ids":["https://openalex.org/I141649914"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161493368","display_name":"Aichun Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210133355","display_name":"Jiangling Motors Corporation (China)","ror":"https://ror.org/03f4b7c94","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210133355"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aichun Wang","raw_affiliation_strings":["Jiangling Motors Co., Ltd, Nanchang, People\u2019s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangling Motors Co., Ltd, Nanchang, People\u2019s Republic of China","institution_ids":["https://openalex.org/I4210133355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034583139","display_name":"Shang Gao","orcid":"https://orcid.org/0000-0003-2555-0538","observed_orcids":["https://orcid.org/0000-0003-2555-0538","https://orcid.org/0000-0002-6554-5285"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shang Gao","raw_affiliation_strings":["Jiangxi Jingwei Hirain Co., Ltd, Nanchang, People\u2019s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangxi Jingwei Hirain Co., Ltd, Nanchang, People\u2019s Republic of China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161440710","display_name":"Ming Cao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Cao","raw_affiliation_strings":["School of Advanced Manufacturing, Nanchang University, People\u2019s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Nanchang University, People\u2019s Republic of China","institution_ids":["https://openalex.org/I141649914"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161467405","display_name":"Mei Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210133355","display_name":"Jiangling Motors Corporation (China)","ror":"https://ror.org/03f4b7c94","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210133355"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Zhang","raw_affiliation_strings":["Jiangling Motors Co., Ltd, Nanchang, People\u2019s Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangling Motors Co., Ltd, Nanchang, People\u2019s Republic of China","institution_ids":["https://openalex.org/I4210133355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054806761","display_name":"Xiaojian Wu","orcid":"https://orcid.org/0000-0003-4451-9499","observed_orcids":["https://orcid.org/0000-0003-4451-9499"]},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaojian Wu","raw_affiliation_strings":["School of Advanced Manufacturing, Nanchang University, People\u2019s Republic of China"],"raw_orcid":"https://orcid.org/0000-0003-4451-9499","affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing, Nanchang University, People\u2019s Republic of China","institution_ids":["https://openalex.org/I141649914"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054806761"],"corresponding_institution_ids":["https://openalex.org/I141649914"],"apc_list":{"value":4150,"currency":"USD","value_usd":4150},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9976000189781189,"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":0.9976000189781189,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.0020000000949949026,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0003000000142492354,"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/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8095999956130981},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7738000154495239},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6258999705314636},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6043999791145325},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5009999871253967},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4643000066280365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4537999927997589},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.44020000100135803},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4259999990463257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42250001430511475},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4020000100135803},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3968999981880188},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39480000734329224},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3828999996185303},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3111000061035156},{"id":"https://openalex.org/C163175372","wikidata":"https://www.wikidata.org/wiki/Q3339222","display_name":"Linear model","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C2781141662","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear modelling","level":3,"score":0.3001999855041504},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.275299996137619},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2624000012874603},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.259799987077713},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09544070261504935","doi":"https://doi.org/10.1177/09544070261504935","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09544070261504935","pdf_url":null,"source":{"id":"https://openalex.org/S16239639","display_name":"Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering","issn_l":"0954-4070","issn":["0954-4070","2041-2991"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2034925682","https://openalex.org/W2093971242","https://openalex.org/W2147740563","https://openalex.org/W2236403704","https://openalex.org/W2346595613","https://openalex.org/W2739024611","https://openalex.org/W2761436338","https://openalex.org/W2781881353","https://openalex.org/W2970904040","https://openalex.org/W2971232659","https://openalex.org/W3012213494","https://openalex.org/W3016396690","https://openalex.org/W3111690302","https://openalex.org/W4220859467","https://openalex.org/W4224320064","https://openalex.org/W4226489184","https://openalex.org/W4313855754","https://openalex.org/W4368232749","https://openalex.org/W4386973808","https://openalex.org/W4387885753","https://openalex.org/W4389473995","https://openalex.org/W4396909899","https://openalex.org/W4400225109","https://openalex.org/W4403569669","https://openalex.org/W4405089437","https://openalex.org/W4408405023","https://openalex.org/W4415269124","https://openalex.org/W4417013352"],"related_works":[],"abstract_inverted_index":{"Under":[0],"critical":[1],"maneuvers":[2],"like":[3,56],"high-speed":[4],"emergency":[5,181],"steering,":[6],"conventional":[7],"Linear":[8],"Model":[9,72,74,95],"Predictive":[10,75,96],"Control":[11,76,97],"(LMPC)":[12],"suffers":[13],"from":[14],"insufficient":[15],"path-tracking":[16,188],"accuracy,":[17],"owing":[18],"to":[19,43,53,123],"coupled":[20],"effects":[21],"of":[22,25,61,142,194,206,213],"multiple":[23],"sources":[24],"model":[26,29,86,125],"uncertainties":[27,126],"-including":[28],"simplification":[30],"errors,":[31],"parameter":[32,195],"perturbations,":[33],"and":[34,132,153,177,204],"unmodeled":[35],"dynamics,":[36,48],"as":[37,39,198],"well":[38],"a":[40,71,93,101,116],"limited":[41],"capability":[42,183],"characterize":[44],"highly":[45],"nonlinear":[46,102],"vehicle":[47,105,202],"which":[49,107],"may":[50],"even":[51],"lead":[52],"safety":[54],"issues":[55],"trajectory":[57],"deviation":[58],"or":[59],"instability":[60],"intelligent":[62],"vehicles.":[63],"To":[64],"tackle":[65],"these":[66],"challenges,":[67],"this":[68],"paper":[69],"proposes":[70],"Uncertainty-Nonlinear":[73],"(MU-NMPC)":[77],"algorithm":[78,146],"for":[79,85,135],"lateral":[80],"path":[81,216],"tracking":[82,217],"that":[83],"accounts":[84],"uncertainties.":[87],"The":[88],"framework":[89],"initiates":[90],"by":[91],"establishing":[92],"Nonlinear":[94],"(NMPC)":[98],"structure":[99],"using":[100],"two-degree-of-freedom":[103],"(2DOF)":[104],"model,":[106],"is":[108,121,147],"solved":[109],"via":[110],"Sequential":[111],"Quadratic":[112],"Programming":[113],"(SQP).":[114],"Furthermore,":[115],"state-error-based":[117],"uncertainty":[118],"compensation":[119],"mechanism":[120],"developed":[122],"mitigate":[124],"through":[127,149],"online":[128],"closed-loop":[129],"feedback":[130],"identification":[131],"real-time":[133],"filtering":[134],"prediction":[136],"errors":[137],"estimation.":[138],"Finally,":[139],"the":[140,143,179,192,211],"efficacy":[141],"proposed":[144],"MU-NMPC":[145,163,208],"verified":[148],"both":[150],"simulations":[151],"tests":[152],"SpeedGoat-based":[154],"rapid":[155],"control":[156,175],"prototyping":[157],"(RCP)":[158],"experiments.":[159],"Compared":[160],"with":[161],"LMPC,":[162],"exhibits":[164],"superior":[165],"performance":[166,222],"under":[167],"extreme":[168],"conditions:":[169],"it":[170],"not":[171],"only":[172],"maintains":[173],"sufficient":[174],"margins":[176],"enhances":[178],"vehicle\u2019s":[180],"handling":[182],"but":[184],"also":[185],"significantly":[186],"improves":[187],"accuracy.":[189],"Moreover,":[190],"in":[191,201,215,223],"presence":[193],"variations":[196],"such":[197],"\u00b120%":[199],"perturbations":[200],"mass":[203],"moment":[205],"inertia,":[207],"effectively":[209],"suppresses":[210],"rate":[212],"change":[214],"error,":[218],"demonstrating":[219],"strong":[220],"robustness":[221],"complex":[224],"operational":[225],"scenarios.":[226]},"counts_by_year":[],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2026-11-12T00:00:00"}
