{"id":"https://openalex.org/W3148408231","doi":"https://doi.org/10.1080/23307706.2021.1906772","title":"Robust <i>H</i>\u221e path tracking control of autonomous vehicles with delay and actuator saturation","display_name":"Robust <i>H</i>\u221e path tracking control of autonomous vehicles with delay and actuator saturation","publication_year":2021,"publication_date":"2021-04-02","ids":{"openalex":"https://openalex.org/W3148408231","doi":"https://doi.org/10.1080/23307706.2021.1906772","mag":"3148408231"},"language":"en","primary_location":{"id":"doi:10.1080/23307706.2021.1906772","is_oa":false,"landing_page_url":"https://doi.org/10.1080/23307706.2021.1906772","pdf_url":null,"source":{"id":"https://openalex.org/S2475925340","display_name":"Journal of Control and Decision","issn_l":"2330-7706","issn":["2330-7706","2330-7714"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Control and Decision","raw_type":"journal-article"},"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/A5009447143","display_name":"Changfang Chen","orcid":"https://orcid.org/0000-0001-7136-2525"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changfang Chen","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]},{"raw_affiliation_string":"Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044470103","display_name":"Minglei Shu","orcid":"https://orcid.org/0000-0002-7136-1538"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minglei Shu","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]},{"raw_affiliation_string":"Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100638446","display_name":"Yuanyuan Yang","orcid":"https://orcid.org/0000-0001-7296-9222"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyuan Yang","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]},{"raw_affiliation_string":"Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043129314","display_name":"Tianlei Gao","orcid":"https://orcid.org/0009-0007-4340-8697"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianlei Gao","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006526778","display_name":"Lipan Bian","orcid":null},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lipan Bian","raw_affiliation_strings":["Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Artificial Intelligence Institute, Qilu University of Technology (Shandong Academy of Sciences), Jinan, People's Republic of China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5009447143"],"corresponding_institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"],"apc_list":null,"apc_paid":null,"fwci":0.9761,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.72237811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"45","last_page":"57"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9994999766349792,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9994999766349792,"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":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9979000091552734,"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/control-theory","display_name":"Control theory (sociology)","score":0.894361138343811},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6254584193229675},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5919061303138733},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5440650582313538},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5317769050598145},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44066858291625977},{"id":"https://openalex.org/keywords/plant","display_name":"Plant","score":0.43262723088264465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4088374376296997},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29353243112564087}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.894361138343811},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6254584193229675},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5919061303138733},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5440650582313538},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5317769050598145},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44066858291625977},{"id":"https://openalex.org/C127205110","wikidata":"https://www.wikidata.org/wiki/Q639588","display_name":"Plant","level":3,"score":0.43262723088264465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4088374376296997},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29353243112564087},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/23307706.2021.1906772","is_oa":false,"landing_page_url":"https://doi.org/10.1080/23307706.2021.1906772","pdf_url":null,"source":{"id":"https://openalex.org/S2475925340","display_name":"Journal of Control and Decision","issn_l":"2330-7706","issn":["2330-7706","2330-7714"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Control and Decision","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1958327551","display_name":null,"funder_award_id":"ZR2017MF029","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G518786939","display_name":null,"funder_award_id":"61603224","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W629297016","https://openalex.org/W1561568282","https://openalex.org/W1656390188","https://openalex.org/W1965497192","https://openalex.org/W1966556797","https://openalex.org/W1974945677","https://openalex.org/W1995937054","https://openalex.org/W2023153799","https://openalex.org/W2029399628","https://openalex.org/W2048186868","https://openalex.org/W2052066290","https://openalex.org/W2054632471","https://openalex.org/W2055737857","https://openalex.org/W2082969514","https://openalex.org/W2085726513","https://openalex.org/W2108990406","https://openalex.org/W2142991906","https://openalex.org/W2150258685","https://openalex.org/W2155512900","https://openalex.org/W2159924794","https://openalex.org/W2170951185","https://openalex.org/W2180358230","https://openalex.org/W2240561741","https://openalex.org/W2314224933","https://openalex.org/W2323597089","https://openalex.org/W2523471397","https://openalex.org/W2581825170","https://openalex.org/W2887329639","https://openalex.org/W4249525427"],"related_works":["https://openalex.org/W2157923768","https://openalex.org/W2007221537","https://openalex.org/W2158067193","https://openalex.org/W1900952338","https://openalex.org/W2070476548","https://openalex.org/W1511565357","https://openalex.org/W3091584478","https://openalex.org/W2889713132","https://openalex.org/W2413430046","https://openalex.org/W2759097801"],"abstract_inverted_index":{"The":[0,57],"path":[1,37],"tracking":[2,38],"control":[3,45,70,77,108],"problem":[4],"is":[5,40,85],"investigated":[6],"in":[7],"this":[8],"paper":[9],"for":[10,67],"autonomous":[11],"vehicles":[12],"(AVs)":[13],"with":[14],"time-varying":[15],"input":[16],"delay":[17],"and":[18,26,42,60,97],"actuator":[19],"saturation.":[20],"Based":[21],"on":[22],"the":[23,27,30,43,52,68,74,90,94,104,107,116,119],"Lyapunov\u2013Krasovskii":[24],"function":[25],"characteristic":[28],"of":[29,76,93,106,118],"saturation":[31],"nonlinearity,":[32],"a":[33,79],"robust":[34,81],"H\u221e":[35,62,82],"state-feedback":[36],"controller":[39,84],"presented,":[41],"corresponding":[44],"gain":[46],"can":[47],"be":[48],"obtained":[49],"by":[50],"solving":[51],"linear":[53],"matrix":[54],"inequalities":[55],"(LMIs).":[56],"asymptotic":[58],"stability":[59],"prescribed":[61],"performance":[63],"conditions":[64],"are":[65,100,112],"studied":[66],"closed-loop":[69],"system.":[71],"To":[72],"reduce":[73],"cost":[75],"system,":[78],"static":[80],"output-feedback":[83],"also":[86],"proposed.":[87],"In":[88],"addition,":[89],"uncertainty":[91],"effects":[92],"cornering":[95],"stiffness":[96],"external":[98],"disturbances":[99],"included":[101],"to":[102,114],"improve":[103],"robustness":[105],"scheme.":[109],"Simulation":[110],"results":[111],"given":[113],"verify":[115],"effectiveness":[117],"proposed":[120],"theoretical":[121],"results.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
