{"id":"https://openalex.org/W4414054203","doi":"https://doi.org/10.1109/access.2025.3606861","title":"Hybrid Model-Based and Data-Driven Sliding Mode Control for Robust Path Tracking in Intelligent Vehicles","display_name":"Hybrid Model-Based and Data-Driven Sliding Mode Control for Robust Path Tracking in Intelligent Vehicles","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4414054203","doi":"https://doi.org/10.1109/access.2025.3606861"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3606861","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3606861","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3606861","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100529465","display_name":"Zhanguo Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanguo Xu","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059728494","display_name":"Yunfei Yin","orcid":"https://orcid.org/0000-0002-4098-8522"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfei Yin","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-4098-8522","affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044678024","display_name":"He Cai","orcid":"https://orcid.org/0000-0002-0411-1774"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Cai","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064618837","display_name":"Wanying Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanying Zhu","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101695658","display_name":"Chen Dai","orcid":"https://orcid.org/0000-0002-2159-080X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengyang Dai","raw_affiliation_strings":["School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I4210161462","https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084393165","display_name":"Abaho G. Gershome","orcid":"https://orcid.org/0000-0002-0235-5249"},"institutions":[{"id":"https://openalex.org/I4210087849","display_name":"University of Rwanda","ror":"https://ror.org/00286hs46","country_code":"RW","type":"education","lineage":["https://openalex.org/I4210087849"]}],"countries":["RW"],"is_corresponding":false,"raw_author_name":"Abaho G. Gershome","raw_affiliation_strings":["College of Science and Technology, University of Rwanda, Kigali, Rwanda"],"raw_orcid":"https://orcid.org/0000-0002-0235-5249","affiliations":[{"raw_affiliation_string":"College of Science and Technology, University of Rwanda, Kigali, Rwanda","institution_ids":["https://openalex.org/I4210087849"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4247,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64220783,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"159920","last_page":"159932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9868000149726868,"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/heading","display_name":"Heading (navigation)","score":0.7204999923706055},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6868000030517578},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.558899998664856},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5401999950408936},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5386999845504761},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.49950000643730164},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.48660001158714294},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4855000078678131},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4300000071525574}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7204999923706055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6937000155448914},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6868000030517578},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.558899998664856},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5401999950408936},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5386999845504761},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.49950000643730164},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.48660001158714294},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4855000078678131},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4300000071525574},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4284999966621399},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4235000014305115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4207000136375427},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4043999910354614},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.39879998564720154},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.37950000166893005},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3319999873638153},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.32749998569488525},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.2791999876499176},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C82327864","wikidata":"https://www.wikidata.org/wiki/Q835100","display_name":"Intelligent control","level":2,"score":0.27149999141693115}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3606861","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3606861","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c785784f17d6459ab96fb5bf1482c301","is_oa":true,"landing_page_url":"https://doaj.org/article/c785784f17d6459ab96fb5bf1482c301","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 159920-159932 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3606861","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3606861","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3913821146","display_name":null,"funder_award_id":"2022M710963","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5932883298","display_name":null,"funder_award_id":"XNJKKGYDJ2024012","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G706178998","display_name":null,"funder_award_id":"2024T171157","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G8255098066","display_name":null,"funder_award_id":"62303134","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/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1997412659","https://openalex.org/W2002675616","https://openalex.org/W2020005495","https://openalex.org/W2085932691","https://openalex.org/W2899141384","https://openalex.org/W2899230372","https://openalex.org/W2911243363","https://openalex.org/W2913416895","https://openalex.org/W2945494979","https://openalex.org/W3015740090","https://openalex.org/W3044225827","https://openalex.org/W3081870136","https://openalex.org/W3086243730","https://openalex.org/W3216647736","https://openalex.org/W4213209987","https://openalex.org/W4249560056","https://openalex.org/W4292566775","https://openalex.org/W4312248126","https://openalex.org/W4312778370","https://openalex.org/W4313478129","https://openalex.org/W4391237385","https://openalex.org/W4391927500","https://openalex.org/W4396712542","https://openalex.org/W4399679066","https://openalex.org/W4402350352","https://openalex.org/W4404238431","https://openalex.org/W4406856929","https://openalex.org/W4408867684","https://openalex.org/W4411507474","https://openalex.org/W4412804122"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W2023861399","https://openalex.org/W2730915376","https://openalex.org/W2626306547","https://openalex.org/W2021396365","https://openalex.org/W2394134009","https://openalex.org/W2119515433","https://openalex.org/W2009561238","https://openalex.org/W3041553740","https://openalex.org/W2123479323"],"abstract_inverted_index":{"Robust":[0],"path":[1],"tracking":[2,130],"for":[3],"intelligent":[4],"vehicles":[5],"represents":[6],"a":[7,21,39,66,93,105,114,149],"critical":[8],"challenge":[9],"due":[10],"to":[11,29,55,98,113],"model":[12],"uncertainties":[13],"and":[14,59,79,89,101,132,142,152,159],"varying":[15],"operational":[16],"conditions.":[17],"This":[18,61,145],"paper":[19],"proposes":[20],"novel":[22],"model-data-driven":[23],"sliding":[24],"mode":[25],"control":[26,74,111,136,160],"(MDD-SMC)":[27],"framework":[28,37,146],"address":[30],"this":[31,36],"issue.":[32],"The":[33],"core":[34],"of":[35],"is":[38,62,96],"hybrid":[40],"controller":[41],"architecture.":[42],"A":[43],"model-based":[44],"law,":[45],"founded":[46],"on":[47,71],"SMC":[48],"principles,":[49],"governs":[50],"the":[51,110,124],"nominal":[52],"vehicle":[53,157],"dynamics":[54],"ensure":[56],"baseline":[57],"stability":[58,133],"robustness.":[60],"synergistically":[63],"integrated":[64],"with":[65],"data-driven":[67],"compensator,":[68],"designed":[69],"based":[70],"model-free":[72],"adaptive":[73,151],"theory,":[75],"which":[76],"actively":[77],"learns":[78],"rejects":[80],"composite":[81,107],"disturbances":[82],"arising":[83],"from":[84],"unmodeled":[85],"dynamics,":[86],"parameter":[87],"errors,":[88],"external":[90],"interferences.":[91],"Furthermore,":[92],"guidance":[94],"law":[95],"employed":[97],"fuse":[99],"lateral":[100],"heading":[102],"errors":[103],"into":[104],"single":[106],"variable,":[108],"simplifying":[109],"problem":[112],"provably":[115],"stable":[116],"single-input":[117],"single-output":[118],"system.":[119],"Comparative":[120],"simulations":[121],"demonstrate":[122],"that":[123],"proposed":[125],"MDD-SMC":[126],"consistently":[127],"achieves":[128],"superior":[129],"accuracy":[131],"over":[134],"conventional":[135],"methods,":[137],"particularly":[138],"in":[139],"challenging":[140],"high-speed":[141],"low-adhesion":[143],"scenarios.":[144],"therefore":[147],"provides":[148],"highly":[150],"effective":[153],"solution,":[154],"significantly":[155],"enhancing":[156],"safety":[158],"precision.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
