{"id":"https://openalex.org/W7138939927","doi":"https://doi.org/10.1109/amc67705.2026.11435819","title":"All-Wheel Steering Vehicle Control Based on Contraction Theory with Neural Network","display_name":"All-Wheel Steering Vehicle Control Based on Contraction Theory with Neural Network","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7138939927","doi":"https://doi.org/10.1109/amc67705.2026.11435819"},"language":null,"primary_location":{"id":"doi:10.1109/amc67705.2026.11435819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc67705.2026.11435819","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 19th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5130069344","display_name":"Myeongseok Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myeongseok Ryu","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST),Cho Chun Shik Graduate School of Mobility,Daejeon,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),Cho Chun Shik Graduate School of Mobility,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070417804","display_name":"Kyunghwan Choi","orcid":"https://orcid.org/0000-0002-4832-1597"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyunghwan Choi","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST),Cho Chun Shik Graduate School of Mobility,Daejeon,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),Cho Chun Shik Graduate School of Mobility,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22529691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.5390999913215637,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.5390999913215637,"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":0.3278999924659729,"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":0.03480000048875809,"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":0.7526999711990356},{"id":"https://openalex.org/keywords/contraction","display_name":"Contraction (grammar)","score":0.6959999799728394},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6032999753952026},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5842999815940857},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5109000205993652},{"id":"https://openalex.org/keywords/contraction-mapping","display_name":"Contraction mapping","score":0.5033000111579895},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4887999892234802},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42649999260902405}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7526999711990356},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.6959999799728394},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6032999753952026},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5842999815940857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.564300000667572},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5109000205993652},{"id":"https://openalex.org/C55524764","wikidata":"https://www.wikidata.org/wiki/Q515173","display_name":"Contraction mapping","level":3,"score":0.5033000111579895},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4887999892234802},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42649999260902405},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3799000084400177},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3797999918460846},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.37310001254081726},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.36629998683929443},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3659000098705292},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.365200012922287},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.35359999537467957},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.30979999899864197},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2745000123977661},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2619999945163727},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc67705.2026.11435819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc67705.2026.11435819","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 19th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.41733214259147644}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1559107966","https://openalex.org/W2103496339","https://openalex.org/W2134889984","https://openalex.org/W2171214135","https://openalex.org/W2535238804","https://openalex.org/W2977459822","https://openalex.org/W3024674854","https://openalex.org/W3033405912","https://openalex.org/W3033496312","https://openalex.org/W3048021363","https://openalex.org/W3098188269","https://openalex.org/W3181621367","https://openalex.org/W3213596036","https://openalex.org/W4210687990","https://openalex.org/W4240790602","https://openalex.org/W4366967327","https://openalex.org/W4415179409","https://openalex.org/W4415969908"],"related_works":[],"abstract_inverted_index":{"All-wheel":[0],"steering":[1],"(AWS)":[2],"vehicles":[3],"have":[4],"been":[5],"widely":[6],"studied":[7],"in":[8],"the":[9,46,99,103,107,117,123,134],"literature":[10],"to":[11,54,68,78,97,115,132],"enhance":[12],"stability":[13],"and":[14,80],"maneuverability.":[15],"In":[16],"this":[17,73],"study,":[18],"we":[19],"propose":[20],"a":[21,36,55],"contraction":[22,87,100],"theory-based":[23],"AWS":[24],"vehicle":[25],"control":[26,63,136],"strategy":[27],"integrated":[28],"with":[29],"neural":[30],"networks":[31],"(NNs).":[32],"Contraction":[33],"theory":[34,114],"is":[35,89,110],"powerful":[37],"tool":[38],"for":[39,42,82,106],"designing":[40],"controllers":[41],"nonlinear":[43],"systems,":[44],"ensuring":[45],"incremental":[47],"exponential":[48],"convergence":[49],"of":[50,59,122],"all":[51],"system":[52,69,84],"trajectories":[53],"unique":[56],"trajectory,":[57],"regardless":[58],"initial":[60],"conditions.":[61],"However,":[62],"performance":[64],"may":[65],"degrade":[66],"due":[67],"uncertainties.":[70,85],"To":[71],"address":[72],"issue,":[74],"NNs":[75],"are":[76,130],"employed":[77],"approximate":[79],"compensate":[81],"these":[83],"The":[86],"property":[88],"guaranteed":[90],"by":[91],"formulating":[92],"Linear":[93],"Matrix":[94],"Inequalities":[95],"(LMIs)":[96],"obtain":[98],"metric.":[101],"Furthermore,":[102],"adaptation":[104],"law":[105],"NN":[108],"weights":[109],"designed":[111],"using":[112],"Lyapunov":[113],"ensure":[116],"uniform":[118],"ultimate":[119],"boundedness":[120],"(UUB)":[121],"closed-loop":[124],"system.":[125],"Finally,":[126],"numerical":[127],"simulation":[128],"results":[129],"provided":[131],"validate":[133],"proposed":[135],"strategy.":[137]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-03-20T00:00:00"}