{"id":"https://openalex.org/W4245765739","doi":"https://doi.org/10.1109/cdc.2015.7402789","title":"An energy efficient trajectory tracking controller for car-like vehicles using Model Predictive Control","display_name":"An energy efficient trajectory tracking controller for car-like vehicles using Model Predictive Control","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W4245765739","doi":"https://doi.org/10.1109/cdc.2015.7402789"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2015.7402789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","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/A5023825594","display_name":"Mauro Salazar","orcid":"https://orcid.org/0000-0003-4433-5796"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Mauro Salazar","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Institute for Dynamic Systems and Control (IDSC), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Institute for Dynamic Systems and Control (IDSC), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003960846","display_name":"Andrea Alessandretti","orcid":"https://orcid.org/0000-0002-1861-8525"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["CH","PT"],"is_corresponding":false,"raw_author_name":"Andrea Alessandretti","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Institute for Systems and Robotics (ISR), Instituto Superior Tecnico (IST), Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Institute for Systems and Robotics (ISR), Instituto Superior Tecnico (IST), Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Faculty of Engineering, University of Porto (FEUP), Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto (FEUP), Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085117832","display_name":"Colin N. Jones","orcid":"https://orcid.org/0000-0001-7239-4799"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Colin N. Jones","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne, Lausanne, VD, CH"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne, Lausanne, VD, CH","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023825594"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.9419,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.81925373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9976000189781189,"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":0.9930999875068665,"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":0.8607948422431946},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8130344152450562},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7960963845252991},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6226139664649963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5845481753349304},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5539384484291077},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5001530647277832},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4768332540988922},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46419891715049744},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4422861933708191},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4176226258277893},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4087381064891815},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3007315397262573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25787460803985596},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14227375388145447},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09335193037986755}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8607948422431946},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8130344152450562},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7960963845252991},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6226139664649963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845481753349304},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5539384484291077},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5001530647277832},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4768332540988922},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46419891715049744},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4422861933708191},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4176226258277893},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4087381064891815},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3007315397262573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25787460803985596},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14227375388145447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09335193037986755},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2015.7402789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1525484936","https://openalex.org/W1544016679","https://openalex.org/W1864870865","https://openalex.org/W1977164425","https://openalex.org/W2028001718","https://openalex.org/W2062942996","https://openalex.org/W2090671365","https://openalex.org/W2091231427","https://openalex.org/W2099740514","https://openalex.org/W2131874922","https://openalex.org/W2137575531","https://openalex.org/W2153512136","https://openalex.org/W2170938528","https://openalex.org/W4250589301","https://openalex.org/W4300011629","https://openalex.org/W6639108646","https://openalex.org/W6674950739"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W2018658498"],"abstract_inverted_index":{"A":[0],"Model":[1],"Predictive":[2],"Control":[3],"(MPC)":[4],"strategy":[5,72,113],"for":[6,21,114],"energy":[7,52,77],"efficient":[8,78],"motion":[9],"control":[10,19,112],"of":[11,54,66,109,117],"car-like":[12],"vehicles":[13],"is":[14,24,57,98],"presented.":[15],"First,":[16],"a":[17,30,39,47,118],"nonlinear":[18],"law":[20],"trajectory":[22,31],"tracking":[23,32],"derived":[25,58],"and":[26,59,90],"used":[27],"to":[28,38,100],"design":[29],"MPC":[33,68],"controller":[34],"with":[35,61],"convergence":[36],"guarantees":[37],"desired":[40,82,92],"position":[41],"trajectory.":[42],"Then,":[43],"assuming":[44],"electric":[45],"propulsion,":[46],"performance":[48],"index":[49],"reflecting":[50],"the":[51,55,62,67,74,81,87,91,96,107,110,115],"consumption":[53],"vehicle":[56,75],"combined":[60],"stabilizing":[63],"stage":[64],"cost":[65],"controller.":[69],"The":[70,84],"resulting":[71],"drives":[73],"through":[76,121],"trajectories":[79,89],"around":[80],"one.":[83],"distance":[85],"between":[86],"closed-loop":[88],"one":[93],"provided":[94],"by":[95],"user":[97],"guaranteed":[99],"be":[101],"ultimately":[102],"bounded.":[103],"Numerical":[104],"results":[105],"show":[106],"effectiveness":[108],"proposed":[111],"case":[116],"car":[119],"driven":[120],"flat":[122],"land":[123],"or":[124],"mountainous":[125],"territory.":[126]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}