{"id":"https://openalex.org/W4385232029","doi":"https://doi.org/10.1109/med59994.2023.10185834","title":"Cascaded Disturbance Compensation for MPC-based Autonomous Vehicle Guidance","display_name":"Cascaded Disturbance Compensation for MPC-based Autonomous Vehicle Guidance","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4385232029","doi":"https://doi.org/10.1109/med59994.2023.10185834"},"language":"en","primary_location":{"id":"doi:10.1109/med59994.2023.10185834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med59994.2023.10185834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","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/A5114053991","display_name":"Arash Jalilian","orcid":null},"institutions":[{"id":"https://openalex.org/I137230718","display_name":"Ingenieurgesellschaft Auto und Verkehr (Germany)","ror":"https://ror.org/00j4h9q86","country_code":"DE","type":"company","lineage":["https://openalex.org/I137230718"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Arash Jalilian","raw_affiliation_strings":["IAV GmbH,Department Automated Driving Functions,Germany","Department Automated Driving Functions, IAV GmbH, Germany"],"affiliations":[{"raw_affiliation_string":"IAV GmbH,Department Automated Driving Functions,Germany","institution_ids":["https://openalex.org/I137230718"]},{"raw_affiliation_string":"Department Automated Driving Functions, IAV GmbH, Germany","institution_ids":["https://openalex.org/I137230718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044108524","display_name":"Norman Schwarz","orcid":null},"institutions":[{"id":"https://openalex.org/I137230718","display_name":"Ingenieurgesellschaft Auto und Verkehr (Germany)","ror":"https://ror.org/00j4h9q86","country_code":"DE","type":"company","lineage":["https://openalex.org/I137230718"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Norman Schwarz","raw_affiliation_strings":["IAV GmbH,Department Automated Driving Functions,Germany","Department Automated Driving Functions, IAV GmbH, Germany"],"affiliations":[{"raw_affiliation_string":"IAV GmbH,Department Automated Driving Functions,Germany","institution_ids":["https://openalex.org/I137230718"]},{"raw_affiliation_string":"Department Automated Driving Functions, IAV GmbH, Germany","institution_ids":["https://openalex.org/I137230718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102899468","display_name":"Andreas V\u00f6lz","orcid":"https://orcid.org/0000-0002-8040-6400"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas V\u00f6lz","raw_affiliation_strings":["Chair of Automatic Control, Friedrich-Alexander-Universität Erlangen- Nürnberg,Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control, Friedrich-Alexander-Universität Erlangen- Nürnberg,Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002736625","display_name":"Robert Ritschel","orcid":"https://orcid.org/0000-0002-9661-1257"},"institutions":[{"id":"https://openalex.org/I137230718","display_name":"Ingenieurgesellschaft Auto und Verkehr (Germany)","ror":"https://ror.org/00j4h9q86","country_code":"DE","type":"company","lineage":["https://openalex.org/I137230718"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Ritschel","raw_affiliation_strings":["IAV GmbH,Department Automated Driving Functions,Germany","Department Automated Driving Functions, IAV GmbH, Germany"],"affiliations":[{"raw_affiliation_string":"IAV GmbH,Department Automated Driving Functions,Germany","institution_ids":["https://openalex.org/I137230718"]},{"raw_affiliation_string":"Department Automated Driving Functions, IAV GmbH, Germany","institution_ids":["https://openalex.org/I137230718"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114053991"],"corresponding_institution_ids":["https://openalex.org/I137230718"],"apc_list":null,"apc_paid":null,"fwci":0.3752,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58193614,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"932","last_page":"937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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/control-theory","display_name":"Control theory (sociology)","score":0.8280289173126221},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7855061292648315},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7124768495559692},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.68875652551651},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6626636385917664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5846771597862244},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4537796974182129},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39021939039230347},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3384716510772705},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2046506404876709},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1406233012676239},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08025389909744263}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8280289173126221},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7855061292648315},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7124768495559692},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.68875652551651},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6626636385917664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5846771597862244},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4537796974182129},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39021939039230347},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3384716510772705},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2046506404876709},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1406233012676239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08025389909744263},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med59994.2023.10185834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med59994.2023.10185834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1565554466","https://openalex.org/W1970411044","https://openalex.org/W2005151817","https://openalex.org/W2009685984","https://openalex.org/W2040161377","https://openalex.org/W2131920939","https://openalex.org/W2972863667","https://openalex.org/W3208812115","https://openalex.org/W3212098878","https://openalex.org/W3215292554","https://openalex.org/W4289835719","https://openalex.org/W4308068452"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2355389557","https://openalex.org/W128654086"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,26,30,32,40,49],"task":[4],"of":[5,29,42,68,78],"lateral":[6,50],"disturbance":[7],"compensation":[8],"based":[9],"on":[10],"model":[11,27],"predictive":[12],"control":[13],"(MPC)":[14],"for":[15],"autonomous":[16],"vehicles.":[17],"By":[18],"considering":[19],"external":[20],"disturbances":[21],"and":[22,71],"parameter":[23],"perturbations":[24],"in":[25,39,83,88],"term":[28],"MPC,":[31],"steady-state":[33],"offset":[34],"can":[35],"be":[36],"compensated.":[37],"However,":[38],"presence":[41],"more":[43],"dynamic":[44],"disturbances,":[45],"like":[46],"side":[47],"wind,":[48],"path":[51],"tracking":[52],"performance":[53,77],"deteriorates.":[54],"To":[55],"overcome":[56],"this":[57,79],"limitation,":[58],"a":[59,66],"cascaded":[60],"approach":[61,80],"is":[62,65,81],"presented,":[63],"which":[64],"combination":[67],"an":[69,72],"MPC-based":[70],"underlying":[73],"direct":[74],"compensation.":[75],"The":[76],"validated":[82],"simulations":[84],"as":[85,87],"well":[86],"practice":[89],"with":[90],"real":[91],"vehicle":[92],"tests.":[93]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}