{"id":"https://openalex.org/W3176233717","doi":"https://doi.org/10.1109/lcsys.2021.3091917","title":"Asymptotic Trajectory Tracking of Autonomous Bicycles via Backstepping and Optimal Control","display_name":"Asymptotic Trajectory Tracking of Autonomous Bicycles via Backstepping and Optimal Control","publication_year":2021,"publication_date":"2021-06-23","ids":{"openalex":"https://openalex.org/W3176233717","doi":"https://doi.org/10.1109/lcsys.2021.3091917","mag":"3176233717"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2021.3091917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3091917","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5062455237","display_name":"Leilei Cui","orcid":"https://orcid.org/0000-0001-8031-7638"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leilei Cui","raw_affiliation_strings":["Control and Networks Laboratory, Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"raw_orcid":"https://orcid.org/0000-0001-8031-7638","affiliations":[{"raw_affiliation_string":"Control and Networks Laboratory, Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100328343","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0003-1931-3085"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1931-3085","affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058849717","display_name":"Zhengyou Zhang","orcid":"https://orcid.org/0000-0002-6606-2525"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyou Zhang","raw_affiliation_strings":["Tencent Robotics X, Tencent Holdings, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-6606-2525","affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Tencent Holdings, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067046312","display_name":"Zhong\u2010Ping Jiang","orcid":"https://orcid.org/0000-0002-4868-9359"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhong-Ping Jiang","raw_affiliation_strings":["Control and Networks Laboratory, Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-4868-9359","affiliations":[{"raw_affiliation_string":"Control and Networks Laboratory, Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4887,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.81827232,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"1292","last_page":"1297"},"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":1.0,"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":1.0,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/backstepping","display_name":"Backstepping","score":0.870175302028656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8230191469192505},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8047487139701843},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5762990713119507},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5599688291549683},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5409039855003357},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.535811722278595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5244653224945068},{"id":"https://openalex.org/keywords/strict-feedback-form","display_name":"Strict-feedback form","score":0.4619605243206024},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.42295217514038086},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37236836552619934},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.27543413639068604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25387507677078247},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22810223698616028},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12541234493255615},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06802064180374146}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.870175302028656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8230191469192505},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8047487139701843},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5762990713119507},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5599688291549683},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5409039855003357},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.535811722278595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5244653224945068},{"id":"https://openalex.org/C121047784","wikidata":"https://www.wikidata.org/wiki/Q7623607","display_name":"Strict-feedback form","level":5,"score":0.4619605243206024},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.42295217514038086},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37236836552619934},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.27543413639068604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25387507677078247},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22810223698616028},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12541234493255615},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06802064180374146},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2021.3091917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3091917","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7241937758","display_name":null,"funder_award_id":"EPCN-1903781","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1578936488","https://openalex.org/W1957361365","https://openalex.org/W2011747427","https://openalex.org/W2028044548","https://openalex.org/W2035166262","https://openalex.org/W2098989671","https://openalex.org/W2102348903","https://openalex.org/W2133066324","https://openalex.org/W2157402463","https://openalex.org/W2157630435","https://openalex.org/W2158742422","https://openalex.org/W2737313297","https://openalex.org/W2740104662","https://openalex.org/W2896663787","https://openalex.org/W2966081953","https://openalex.org/W3132325427","https://openalex.org/W3135791089","https://openalex.org/W6741949246","https://openalex.org/W6790522783"],"related_works":["https://openalex.org/W2148743176","https://openalex.org/W3119415476","https://openalex.org/W1996651224","https://openalex.org/W3203146402","https://openalex.org/W2613103647","https://openalex.org/W1903028391","https://openalex.org/W2566538426","https://openalex.org/W2168487782","https://openalex.org/W2081366010","https://openalex.org/W2103299374"],"abstract_inverted_index":{"This":[0],"letter":[1,32],"studies":[2],"the":[3,45,48,68,72,93,96,104,108,111,120,125,131,135,138,145,149,152,155,161,166,170,175,178],"trajectory":[4,29,40,50,60,181],"tracking":[5,61,86,94,150,182],"problem":[6],"for":[7,160],"an":[8],"autonomous":[9,73],"bicycle":[10,74,132,136,172],"that":[11,47],"is":[12,51,65,75,79,100,116,158,185],"a":[13,34,54,57,85,89],"non-minimum":[14],"phase,":[15],"strongly":[16],"nonlinear":[17,69],"system.":[18,173],"As":[19],"compared":[20],"with":[21,27,137],"most":[22],"existing":[23],"methods":[24],"dealing":[25],"only":[26],"approximate":[28],"tracking,":[30],"this":[31],"proposes":[33],"constructive":[35],"design":[36,63],"to":[37,102,118,129,143,164],"achieve":[38],"asymptotic":[39,59,167],"tracking.":[41],"More":[42],"specifically,":[43],"under":[44],"assumption":[46],"desired":[49,139],"generated":[52],"by":[53,187],"virtual":[55],"bicycle,":[56],"novel":[58],"controller":[62],"scheme":[64],"presented.":[66],"Firstly,":[67],"dynamics":[70],"of":[71,107,124,169,177],"established.":[76],"Secondly,":[77],"it":[78],"decomposed":[80],"into":[81],"two":[82],"interconnected":[83],"subsystems:":[84],"subsystem":[87],"and":[88,133,151],"balancing":[90,112,153],"subsystem.":[91],"For":[92,110],"subsystem,":[95,113],"popular":[97],"backstepping":[98],"approach":[99],"applied":[101,117,159],"determine":[103,119],"propulsive":[105],"force":[106],"bicycle.":[109],"optimal":[114],"control":[115,183],"steering":[121],"angular":[122],"velocity":[123],"handlebar":[126],"in":[127],"order":[128],"balance":[130],"align":[134],"yaw":[140],"angle.":[141],"Thirdly,":[142],"tackle":[144],"strong":[146],"coupling":[147],"between":[148],"systems,":[154],"small-gain":[156],"technique":[157],"first":[162],"time":[163],"prove":[165],"stability":[168],"closed-loop":[171],"Finally,":[174],"efficacy":[176],"proposed":[179],"exact":[180],"methodology":[184],"validated":[186],"numerical":[188],"simulations.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}