{"id":"https://openalex.org/W2774230986","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215326","title":"Robust recursive lateral control for autonomous vehicles subject to parametric uncertainties","display_name":"Robust recursive lateral control for autonomous vehicles subject to parametric uncertainties","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2774230986","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215326","mag":"2774230986"},"language":"en","primary_location":{"id":"doi:10.1109/sbr-lars-r.2017.8215326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5089813057","display_name":"Filipe Marques Barbosa","orcid":"https://orcid.org/0000-0002-0360-1245"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Filipe Marques Barbosa","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), Universidade de Sao Paulo, Sao Carlos, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), Universidade de Sao Paulo, Sao Carlos, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009772901","display_name":"Lucas B. Marcos","orcid":"https://orcid.org/0000-0003-1857-8938"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Lucas Barbosa Marcos","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073922084","display_name":"Jos\u00e9 Nuno A. D. Bueno","orcid":"https://orcid.org/0000-0001-5103-6431"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Jose Nuno Bueno","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009669213","display_name":"Valdir Grassi","orcid":"https://orcid.org/0000-0001-6753-139X"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Valdir Grassi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"last","author":{"id":null,"display_name":"Marco Henrique Terra","orcid":null},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Marco Henrique Terra","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Sao Carlos School of Engineering (EESC), University of Sao Paulo (USP), Sao Carlos, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17974374"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20192148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"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":1.0,"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":0.995199978351593,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9951000213623047,"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/parametric-statistics","display_name":"Parametric statistics","score":0.8547697067260742},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8533183336257935},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7529183626174927},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.747348427772522},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5874199271202087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5560520887374878},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5406996011734009},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.513370156288147},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4749222695827484},{"id":"https://openalex.org/keywords/regulator","display_name":"Regulator","score":0.42073696851730347},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.39268815517425537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38362282514572144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3320184648036957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17796596884727478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12845051288604736},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.061827778816223145}],"concepts":[{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.8547697067260742},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8533183336257935},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7529183626174927},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.747348427772522},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5874199271202087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5560520887374878},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5406996011734009},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.513370156288147},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4749222695827484},{"id":"https://openalex.org/C6929976","wikidata":"https://www.wikidata.org/wiki/Q3771881","display_name":"Regulator","level":3,"score":0.42073696851730347},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39268815517425537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38362282514572144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3320184648036957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17796596884727478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12845051288604736},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.061827778816223145},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr-lars-r.2017.8215326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321091","display_name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","ror":"https://ror.org/00x0ma614"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1534096605","https://openalex.org/W1544016679","https://openalex.org/W1552196292","https://openalex.org/W1566553715","https://openalex.org/W1592601589","https://openalex.org/W2003386880","https://openalex.org/W2009083762","https://openalex.org/W2023810753","https://openalex.org/W2030204061","https://openalex.org/W2036021531","https://openalex.org/W2041923740","https://openalex.org/W2093395532","https://openalex.org/W2460071662","https://openalex.org/W4244440284","https://openalex.org/W4252199061","https://openalex.org/W6652444120","https://openalex.org/W6656200221"],"related_works":["https://openalex.org/W2354064740","https://openalex.org/W2389923937","https://openalex.org/W2380273283","https://openalex.org/W2386858378","https://openalex.org/W2347280302","https://openalex.org/W2369640577","https://openalex.org/W1941703695","https://openalex.org/W1849276116","https://openalex.org/W3131574667","https://openalex.org/W2145006118"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"approach":[4],"to":[5,13,22,31,62,73,80],"trajectory":[6,55],"tracking":[7,56,96],"control":[8,109],"for":[9,58,111],"autonomous":[10,59],"vehicles":[11,60],"subject":[12,61],"parametric":[14,39,63],"uncertainties.":[15],"Such":[16],"uncertainties":[17],"may":[18],"have":[19],"the":[20,25,28,32,47,50,54,65,90],"potential":[21],"significantly":[23],"decrease":[24],"performance":[26],"of":[27,34,49],"system,":[29],"even":[30],"point":[33],"destabilizing":[35],"it.":[36],"Therefore,":[37],"these":[38],"variations":[40],"must":[41],"be":[42,81],"taken":[43],"into":[44],"account":[45],"during":[46],"design":[48],"controller.":[51,76],"To":[52],"solve":[53],"problem":[57],"uncertainties,":[64],"Robust":[66,91],"Recursive":[67,92],"Regulator":[68,93],"was":[69],"used":[70],"and":[71,98],"compared":[72],"a":[74,106],"PI":[75],"Uncertainties":[77],"were":[78],"assumed":[79],"based":[82],"on":[83],"velocity":[84],"profile.":[85],"Simulation":[86],"results":[87],"showed":[88],"that":[89,103],"presented":[94],"smaller":[95],"errors":[97],"smoother":[99],"driving,":[100],"which":[101],"demonstrates":[102],"it":[104],"is":[105],"very":[107],"promising":[108],"system":[110],"practical":[112],"applications.":[113]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
