{"id":"https://openalex.org/W4414693286","doi":"https://doi.org/10.1109/access.2025.3616936","title":"A Robust Integrated Control Framework for Trajectory Tracking of the Distributed Drive Autonomous Electric Vehicles","display_name":"A Robust Integrated Control Framework for Trajectory Tracking of the Distributed Drive Autonomous Electric Vehicles","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4414693286","doi":"https://doi.org/10.1109/access.2025.3616936"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3616936","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3616936","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2025.3616936","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036924851","display_name":"Hamid Rahmanei","orcid":"https://orcid.org/0000-0001-9140-2176"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Hamid Rahmanei","raw_affiliation_strings":["Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-9140-2176","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114229654","display_name":"Abbas Aliabadi","orcid":null},"institutions":[{"id":"https://openalex.org/I120234788","display_name":"Imam Hossein University","ror":"https://ror.org/04esb6v42","country_code":"IR","type":"education","lineage":["https://openalex.org/I120234788"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Abbas Aliabadi","raw_affiliation_strings":["Faculty of Technology and Engineering, Imam Hossein University, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technology and Engineering, Imam Hossein University, Tehran, Iran","institution_ids":["https://openalex.org/I120234788"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101707348","display_name":"Ali Ghaffari","orcid":"https://orcid.org/0000-0001-8769-9982"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ali Ghaffari","raw_affiliation_strings":["Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-8769-9982","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087193792","display_name":"Shahram Azadi","orcid":"https://orcid.org/0000-0002-5817-9838"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Shahram Azadi","raw_affiliation_strings":["Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036924851"],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27451578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"174572","last_page":"174587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9850999712944031,"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":0.9850999712944031,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9825000166893005,"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/T13644","display_name":"Control Systems in Engineering","score":0.9552000164985657,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.7889000177383423},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7609999775886536},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7379999756813049},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5587999820709229},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5342000126838684},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.503000020980835},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48179998993873596},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.46880000829696655},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4487999975681305}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.7889000177383423},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7609999775886536},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7379999756813049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6227999925613403},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5587999820709229},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5342000126838684},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.503000020980835},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48179998993873596},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.46880000829696655},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4487999975681305},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4456999897956848},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4401000142097473},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4255000054836273},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3970000147819519},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.33090001344680786},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.32510000467300415},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3206000030040741},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3061000108718872},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.30379998683929443},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.302700012922287},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.29409998655319214},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.273499995470047},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.263700008392334}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3616936","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3616936","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:32c004132ce8425a8cb53e881f01ac81","is_oa":true,"landing_page_url":"https://doaj.org/article/32c004132ce8425a8cb53e881f01ac81","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 174572-174587 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3616936","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3616936","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,68,92,132],"problem":[1],"of":[2,65,86,94,128,159,162,168,175,190],"coordinated":[3],"control":[4,39,130,137,153,182],"for":[5,83,96],"autonomous":[6,46],"electric":[7],"vehicles":[8],"has":[9],"attracted":[10],"many":[11],"attentions":[12],"in":[13,48,102,119,146,157,187],"the":[14,17,45,62,84,87,103,110,126,129,136,143,151,173,179,188],"literature.":[15],"However,":[16],"controllers":[18,101],"employing":[19],"four":[20],"independent":[21],"torque":[22],"and":[23,25,99,121,164,193],"brake,":[24],"active":[26],"front":[27],"steering":[28,69],"actuators":[29],"still":[30],"need":[31],"more":[32],"investigation.":[33],"In":[34],"this":[35],"paper,":[36],"an":[37],"integrated":[38,104],"structure":[40],"is":[41,58,71,81,117,139],"proposed":[42,152,180],"to":[43,60,90,124,141,172],"navigate":[44],"vehicle":[47],"trajectory":[49,144],"tracking":[50,145],"task":[51],"at":[52],"high":[53],"speeds.":[54],"A":[55],"kinematic-based":[56],"approach":[57],"introduced":[59],"estimate":[61],"longitudinal":[63,98],"forces":[64],"each":[66],"wheel.":[67],"angle":[70],"designed":[72],"based":[73,108],"on":[74,109],"a":[75,115],"robust":[76,181],"sliding":[77],"mode":[78],"control,":[79],"which":[80],"responsible":[82],"convergence":[85],"lateral":[88,100],"errors":[89,163,169],"zero.":[91],"proof":[93],"stability":[95,112],"both":[97],"framework":[105,183],"are":[106],"provide":[107],"Lyapunov\u2019s":[111],"theorem.":[113],"Finally,":[114],"co-simulation":[116],"performed":[118],"MATLAB/Simulink":[120],"Carsim":[122],"software":[123],"appraise":[125],"performance":[127],"system.":[131],"results":[133,174,186],"show":[134],"that":[135],"method":[138],"able":[140],"perform":[142],"high-speed":[147],"lane":[148],"change.":[149],"Additionally,":[150],"system":[154],"performs":[155],"better":[156],"terms":[158],"maximum":[160],"amplitude":[161],"root":[165],"mean":[166],"square":[167],"when":[170],"compared":[171],"other":[176],"research.":[177],"Furthermore,":[178],"shows":[184],"promising":[185],"presence":[189],"external":[191],"disturbance":[192],"parametric":[194],"uncertainties.":[195]},"counts_by_year":[],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
