{"id":"https://openalex.org/W2140305633","doi":"https://doi.org/10.1109/cdc.2007.4434137","title":"A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems","display_name":"A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2140305633","doi":"https://doi.org/10.1109/cdc.2007.4434137","mag":"2140305633"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/1199908","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019767300","display_name":"Paolo Falcone","orcid":"https://orcid.org/0000-0001-9587-9924"},"institutions":[{"id":"https://openalex.org/I16337185","display_name":"University of Sannio","ror":"https://ror.org/04vc81p87","country_code":"IT","type":"education","lineage":["https://openalex.org/I16337185"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Falcone","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy","Univ. del Sannio, Benevento"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy","institution_ids":["https://openalex.org/I16337185"]},{"raw_affiliation_string":"Univ. del Sannio, Benevento","institution_ids":["https://openalex.org/I16337185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018098902","display_name":"Manuela Tufo","orcid":"https://orcid.org/0000-0002-8347-0897"},"institutions":[{"id":"https://openalex.org/I16337185","display_name":"University of Sannio","ror":"https://ror.org/04vc81p87","country_code":"IT","type":"education","lineage":["https://openalex.org/I16337185"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Tufo","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy","Univ. del Sannio, Benevento"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy","institution_ids":["https://openalex.org/I16337185"]},{"raw_affiliation_string":"Univ. del Sannio, Benevento","institution_ids":["https://openalex.org/I16337185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025067440","display_name":"Francesco Borrelli","orcid":"https://orcid.org/0000-0001-8919-6430"},"institutions":[{"id":"https://openalex.org/I16337185","display_name":"University of Sannio","ror":"https://ror.org/04vc81p87","country_code":"IT","type":"education","lineage":["https://openalex.org/I16337185"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F. Borrelli","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy","Univ. del Sannio, Benevento"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit\u00e0 del Sannio, Benevento, Italy","institution_ids":["https://openalex.org/I16337185"]},{"raw_affiliation_string":"Univ. del Sannio, Benevento","institution_ids":["https://openalex.org/I16337185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029360956","display_name":"Jahan Asgari","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]},{"id":"https://openalex.org/I16337185","display_name":"University of Sannio","ror":"https://ror.org/04vc81p87","country_code":"IT","type":"education","lineage":["https://openalex.org/I16337185"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"J. Asgari","raw_affiliation_strings":["Ford Research Laboratory, Dearborn, MI, USA","Univ. del Sannio, Benevento"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Research Laboratory, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Univ. del Sannio, Benevento","institution_ids":["https://openalex.org/I16337185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034788095","display_name":"H. Eric Tseng","orcid":"https://orcid.org/0000-0001-9544-4226"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]},{"id":"https://openalex.org/I16337185","display_name":"University of Sannio","ror":"https://ror.org/04vc81p87","country_code":"IT","type":"education","lineage":["https://openalex.org/I16337185"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"H. E. Tseng","raw_affiliation_strings":["Ford Research Laboratory, Dearborn, MI, USA","Univ. del Sannio, Benevento"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Research Laboratory, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Univ. del Sannio, Benevento","institution_ids":["https://openalex.org/I16337185"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":201,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2980","last_page":"2985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/T12810","display_name":"Real-time simulation and control systems","score":0.9958999752998352,"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/model-predictive-control","display_name":"Model predictive control","score":0.9431592226028442},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8463577032089233},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6577982306480408},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6005475521087646},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5909339189529419},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5463706254959106},{"id":"https://openalex.org/keywords/traction-control-system","display_name":"Traction control system","score":0.5143343210220337},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46805304288864136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4554140567779541},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4524692893028259},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4238876700401306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3888213038444519},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.341646671295166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22078117728233337},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.21306505799293518},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.14395317435264587}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.9431592226028442},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8463577032089233},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6577982306480408},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6005475521087646},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5909339189529419},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5463706254959106},{"id":"https://openalex.org/C167947727","wikidata":"https://www.wikidata.org/wiki/Q433478","display_name":"Traction control system","level":2,"score":0.5143343210220337},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46805304288864136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4554140567779541},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4524692893028259},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4238876700401306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3888213038444519},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.341646671295166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22078117728233337},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.21306505799293518},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.14395317435264587},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2007.4434137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unimore.it:11380/1199908","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1199908","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:research.chalmers.se:70010","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/70010","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1199908","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1199908","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6899999976158142,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W185492910","https://openalex.org/W955726286","https://openalex.org/W1964565648","https://openalex.org/W1968651586","https://openalex.org/W1978956894","https://openalex.org/W2040281002","https://openalex.org/W2041344731","https://openalex.org/W2112930335","https://openalex.org/W2142219468","https://openalex.org/W2150506037","https://openalex.org/W6660375052"],"related_works":["https://openalex.org/W128654086","https://openalex.org/W4386075391","https://openalex.org/W2147888970","https://openalex.org/W1985245459","https://openalex.org/W2061593155","https://openalex.org/W2161670725","https://openalex.org/W2120998319","https://openalex.org/W2009182818","https://openalex.org/W4294691401","https://openalex.org/W1487101651"],"abstract_inverted_index":{"A":[0],"Model":[1],"Predictive":[2],"Control":[3],"(MPC)":[4],"approach":[5],"for":[6],"controlling":[7,37],"active":[8,11,14],"front":[9,39],"steering,":[10],"braking":[12],"and":[13,43,54,72,105,127],"differentials":[15],"in":[16,28,80,102],"an":[17,73],"autonomous":[18],"vehicle":[19,118],"is":[20,63],"presented.":[21],"We":[22,96],"formulate":[23,106],"a":[24,33,61,69,92],"predictive":[25],"control":[26],"problem":[27,109],"order":[29,81],"to":[30,65,82],"best":[31,83],"follow":[32,84],"given":[34,93],"path":[35],"by":[36],"the":[38,46,77,85,99,107,116],"steering":[40,138],"angle,":[41],"brakes":[42],"traction":[44],"at":[45,91],"four":[47],"wheels":[48],"independently,":[49],"while":[50],"fulfilling":[51],"various":[52],"physical":[53],"design":[55],"constraints.":[56],"At":[57],"each":[58],"time":[59],"step":[60],"trajectory":[62,87],"assumed":[64],"be":[66],"known":[67],"over":[68],"finite":[70],"horizon,":[71],"MPC":[74,108,131],"controller":[75],"computes":[76],"system":[78],"inputs":[79],"desired":[86],"on":[88,111],"slippery":[89],"roads":[90],"entry":[94],"speed.":[95],"start":[97],"from":[98],"results":[100,123],"presented":[101],"[1],":[103],"[2]":[104],"based":[110],"successive":[112],"on-line":[113],"linearization":[114],"of":[115,137],"nonlinear":[117],"model":[119],"(LTV":[120],"MPC).":[121],"Simulative":[122],"are":[124],"presented,":[125],"interpreted":[126],"compared":[128],"against":[129],"LTV":[130],"schemes":[132],"which":[133],"make":[134],"use":[135],"only":[136],"and/or":[139],"braking.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":17},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
