{"id":"https://openalex.org/W4407467098","doi":"https://doi.org/10.1109/anzcc65042.2025.10873346","title":"Robust NN-Based Path Tracking Control of Autonomous Vehicle-Trailer Combination","display_name":"Robust NN-Based Path Tracking Control of Autonomous Vehicle-Trailer Combination","publication_year":2025,"publication_date":"2025-01-30","ids":{"openalex":"https://openalex.org/W4407467098","doi":"https://doi.org/10.1109/anzcc65042.2025.10873346"},"language":"en","primary_location":{"id":"doi:10.1109/anzcc65042.2025.10873346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc65042.2025.10873346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Australian &amp;amp; New Zealand Control Conference (ANZCC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104236093","display_name":"Mohammad Hedayati","orcid":null},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Mohammad Hedayati","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia"],"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032683538","display_name":"Navid Mohajer","orcid":"https://orcid.org/0000-0002-2785-4781"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Navid Mohajer","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia"],"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087536474","display_name":"Mohammad Rokonuzzaman","orcid":null},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mohammad Rokonuzzaman","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia"],"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046519614","display_name":"Douglas Creighton","orcid":"https://orcid.org/0000-0002-9217-1231"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Douglas Creighton","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia"],"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University,Australia","institution_ids":["https://openalex.org/I149704539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5104236093"],"corresponding_institution_ids":["https://openalex.org/I149704539"],"apc_list":null,"apc_paid":null,"fwci":1.242,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.76349071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"99","last_page":"104"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9776999950408936,"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/T13717","display_name":"Advanced Algorithms and Applications","score":0.9275000095367432,"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/trailer","display_name":"Trailer","score":0.8747118711471558},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6171559691429138},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5013563632965088},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49833226203918457},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49154672026634216},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41934603452682495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32933294773101807},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32017579674720764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2627773582935333},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2191469967365265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2179151177406311},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06273692846298218}],"concepts":[{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.8747118711471558},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6171559691429138},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5013563632965088},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49833226203918457},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49154672026634216},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41934603452682495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32933294773101807},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32017579674720764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2627773582935333},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2191469967365265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2179151177406311},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06273692846298218},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/anzcc65042.2025.10873346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc65042.2025.10873346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Australian &amp;amp; New Zealand Control Conference (ANZCC)","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/28502885","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/28502885","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1971705329","https://openalex.org/W2281096776","https://openalex.org/W2800773442","https://openalex.org/W2913416895","https://openalex.org/W2926065969","https://openalex.org/W2961580777","https://openalex.org/W2967023717","https://openalex.org/W2996741134","https://openalex.org/W3004840042","https://openalex.org/W3006367220","https://openalex.org/W3012115643","https://openalex.org/W3013493182","https://openalex.org/W3093544591","https://openalex.org/W3138524741","https://openalex.org/W3157659619","https://openalex.org/W3201443213","https://openalex.org/W3202801681","https://openalex.org/W4206713226","https://openalex.org/W4250589301","https://openalex.org/W4285107642","https://openalex.org/W4387935015","https://openalex.org/W4388855809","https://openalex.org/W4391308151","https://openalex.org/W4391331199","https://openalex.org/W4391973150","https://openalex.org/W4394903910"],"related_works":["https://openalex.org/W2911148753","https://openalex.org/W2101882832","https://openalex.org/W4327694446","https://openalex.org/W819012784","https://openalex.org/W1494281395","https://openalex.org/W2754401799","https://openalex.org/W2602800186","https://openalex.org/W1524995993","https://openalex.org/W3000199577","https://openalex.org/W1563866597"],"abstract_inverted_index":{"This":[0,82],"paper":[1],"proposes":[2],"a":[3,26,100,124],"novel":[4],"robust":[5,67],"control":[6,11],"architecture":[7],"for":[8],"path":[9,71,139],"tracking":[10,72],"(PTC)":[12],"of":[13,20,36,45,119,126,149],"an":[14],"autonomous":[15],"vehicle-trailer":[16],"combination.":[17],"The":[18,50,94,107,128],"dynamics":[19],"this":[21,31],"combination":[22],"is":[23,74,97,111],"identified":[24],"using":[25],"neural":[27],"network":[28],"(NN).":[29],"In":[30],"approach,":[32],"the":[33,37,62,78,84,115,120,133,137,144],"parametric":[34],"values":[35],"vehicle":[38,134],"(e.g.,":[39],"mass,":[40],"cornering":[41],"stiffness,":[42],"and":[43,53,87,92,117,140,146,151],"moment":[44],"inertia)":[46],"are":[47,56],"not":[48],"required.":[49],"modelling":[51,90],"error":[52],"unseen":[54],"scenarios":[55],"covered":[57],"by":[58],"considering":[59],"uncertainty":[60],"in":[61],"obtained":[63],"data-driven":[64],"model.":[65],"A":[66],"<tex":[68],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[69],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$H_{\\infty}$</tex>":[70],"controller":[73],"designed":[75],"based":[76],"on":[77],"Lyapunov":[79],"stability":[80,88,142],"theorem.":[81],"ensures":[83],"system's":[85],"robustness":[86],"against":[89],"errors":[91,148],"uncertainties.":[93],"PTC":[95],"problem":[96],"formulated":[98],"as":[99],"linear":[101],"matrix":[102],"inequality":[103],"(LMI)":[104],"optimisation":[105],"problem.":[106],"CarSim-Simulink":[108],"co-simulation":[109],"platform":[110],"used":[112],"to":[113],"evaluate":[114],"performance":[116],"effectiveness":[118],"proposed":[121],"method":[122],"within":[123],"series":[125],"simulations.":[127],"simulation":[129],"results":[130],"show":[131],"that":[132],"accurately":[135],"tracks":[136],"reference":[138],"maintains":[141],"with":[143],"lateral":[145],"heading":[147],"0.2m":[150],"1.27deg.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
