{"id":"https://openalex.org/W2404232723","doi":"https://doi.org/10.1109/cdc.2016.7798630","title":"Path following control for a reversing general 2-trailer system","display_name":"Path following control for a reversing general 2-trailer system","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2404232723","doi":"https://doi.org/10.1109/cdc.2016.7798630","mag":"2404232723"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7798630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1605.04393","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077008561","display_name":"Oskar Ljungqvist","orcid":"https://orcid.org/0000-0002-1795-5992"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Oskar Ljungqvist","raw_affiliation_strings":["Division of Automatic Control, Link\u00f6ping University, Sweden","Division of Automatic Control, Linkoping University, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link\u00f6ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Division of Automatic Control, Linkoping University, Sweden#TAB#","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028497393","display_name":"Daniel Axehill","orcid":"https://orcid.org/0000-0001-6957-2603"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Axehill","raw_affiliation_strings":["Division of Automatic Control, Link\u00f6ping University, Sweden","Division of Automatic Control, Linkoping University, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link\u00f6ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Division of Automatic Control, Linkoping University, Sweden#TAB#","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108633916","display_name":"Anders Helmersson","orcid":null},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Helmersson","raw_affiliation_strings":["Division of Automatic Control, Link\u00f6ping University, Sweden","Link\u00f6ping University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Automatic Control, Link\u00f6ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Link\u00f6ping University","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102134673"],"apc_list":null,"apc_paid":null,"fwci":0.5386,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67862078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2455","last_page":"2461"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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":0.9979000091552734,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7535872459411621},{"id":"https://openalex.org/keywords/reversing","display_name":"Reversing","score":0.747073769569397},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.6746050119400024},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6117557287216187},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5888205766677856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49378737807273865},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.47647640109062195},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43789440393447876},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43712693452835083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41147318482398987},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3537830710411072},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2754408121109009},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20852890610694885},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0913451611995697}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7535872459411621},{"id":"https://openalex.org/C2781085045","wikidata":"https://www.wikidata.org/wiki/Q7318308","display_name":"Reversing","level":2,"score":0.747073769569397},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.6746050119400024},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6117557287216187},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5888205766677856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49378737807273865},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.47647640109062195},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43789440393447876},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43712693452835083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41147318482398987},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3537830710411072},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2754408121109009},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20852890610694885},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0913451611995697},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc.2016.7798630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1605.04393","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.04393","pdf_url":"https://arxiv.org/pdf/1605.04393","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2404232723","is_oa":true,"landing_page_url":"https://www.arxiv.org/pdf/1605.04393.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1605.04393","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1605.04393","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1605.04393","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.04393","pdf_url":"https://arxiv.org/pdf/1605.04393","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2404232723.pdf","grobid_xml":"https://content.openalex.org/works/W2404232723.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W953471668","https://openalex.org/W1522531528","https://openalex.org/W1576408494","https://openalex.org/W1634952812","https://openalex.org/W2010494680","https://openalex.org/W2050984992","https://openalex.org/W2095200084","https://openalex.org/W2101419433","https://openalex.org/W2102119157","https://openalex.org/W2112389721","https://openalex.org/W2127962152","https://openalex.org/W2159062024","https://openalex.org/W2164093501","https://openalex.org/W2164365493","https://openalex.org/W2275166520","https://openalex.org/W2536620281","https://openalex.org/W3210839039","https://openalex.org/W6625134878"],"related_works":["https://openalex.org/W2962816717","https://openalex.org/W2952852400","https://openalex.org/W1524252729","https://openalex.org/W2046736695","https://openalex.org/W1504985399","https://openalex.org/W3095795506","https://openalex.org/W1973564335","https://openalex.org/W1995825936","https://openalex.org/W2885446638","https://openalex.org/W3045888462","https://openalex.org/W2616091371","https://openalex.org/W2142538729","https://openalex.org/W2051089165","https://openalex.org/W2053908365","https://openalex.org/W2096088498","https://openalex.org/W2044732464","https://openalex.org/W2117624508","https://openalex.org/W1555728145","https://openalex.org/W2112315298","https://openalex.org/W2002675616"],"abstract_inverted_index":{"In":[0,33],"order":[1],"to":[2,18,21,88],"meet":[3],"the":[4,26,72,90,94,115],"requirements":[5],"for":[6,42,74,114],"autonomous":[7],"systems":[8],"in":[9,54],"real":[10],"world":[11],"applications,":[12],"reliable":[13],"path":[14,95],"following":[15],"controllers":[16],"have":[17],"be":[19],"designed":[20],"execute":[22],"planned":[23],"paths":[24,53],"despite":[25],"existence":[27],"of":[28,66,84,118],"disturbances":[29],"and":[30],"model":[31,65],"errors.":[32],"this":[34],"paper":[35],"we":[36],"propose":[37],"a":[38,44,63,67,82,107],"Linear":[39],"Quadratic":[40],"controller":[41,58],"stabilizing":[43],"2-trailer":[45,69],"system":[46,70],"with":[47],"possible":[48,91],"off-axle":[49,75],"hitching":[50],"around":[51,81],"preplanned":[52],"backward":[55],"motion.":[56],"The":[57],"design":[59],"is":[60,79,112],"based":[61],"on":[62],"kinematic":[64],"general":[68],"including":[71],"possibility":[73],"hitching.":[76],"Closed-loop":[77],"stability":[78],"proved":[80],"set":[83,117],"paths,":[85],"typically":[86],"chosen":[87],"represent":[89],"output":[92],"from":[93,99],"planner,":[96],"using":[97],"theory":[98],"linear":[100],"differential":[101],"inclusions.":[102],"Using":[103],"convex":[104],"optimization":[105],"tools":[106],"single":[108],"quadratic":[109],"Lyapunov":[110],"function":[111],"computed":[113],"entire":[116],"paths.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-01T08:55:40.977307","created_date":"2025-10-10T00:00:00"}
