{"id":"https://openalex.org/W4378804849","doi":"https://doi.org/10.1109/tcsi.2023.3276945","title":"Observer-Based Discrete-Time Cascaded Control for Lateral Stabilization of Steer-by-Wire Vehicles With Uncertainties and Disturbances","display_name":"Observer-Based Discrete-Time Cascaded Control for Lateral Stabilization of Steer-by-Wire Vehicles With Uncertainties and Disturbances","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4378804849","doi":"https://doi.org/10.1109/tcsi.2023.3276945"},"language":"en","primary_location":{"id":"doi:10.1109/tcsi.2023.3276945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsi.2023.3276945","pdf_url":null,"source":{"id":"https://openalex.org/S116977442","display_name":"IEEE Transactions on Circuits and Systems I Regular Papers","issn_l":"1549-8328","issn":["1549-8328","1558-0806"],"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 Transactions on Circuits and Systems I: Regular Papers","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/A5031849023","display_name":"Jing Zhao","orcid":"https://orcid.org/0000-0002-3074-0574"},"institutions":[{"id":"https://openalex.org/I14894300","display_name":"Foshan University","ror":"https://ror.org/02xvvvp28","country_code":"CN","type":"education","lineage":["https://openalex.org/I14894300"]},{"id":"https://openalex.org/I4391767858","display_name":"State Key Laboratory of Synthetical Automation for Process Industries","ror":"https://ror.org/0380ng272","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767858","https://openalex.org/I9224756"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jing Zhao","raw_affiliation_strings":["School of Mechanical Engineering and Automation and State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","Foshan Graduate School of Innovation, Northeastern University, Foshan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation and State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756","https://openalex.org/I4391767858"]},{"raw_affiliation_string":"Foshan Graduate School of Innovation, Northeastern University, Foshan, China","institution_ids":["https://openalex.org/I14894300","https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110983173","display_name":"Kaiheng Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767858","display_name":"State Key Laboratory of Synthetical Automation for Process Industries","ror":"https://ror.org/0380ng272","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767858","https://openalex.org/I9224756"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiheng Yang","raw_affiliation_strings":["School of Mechanical Engineering and Automation and State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation and State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756","https://openalex.org/I4391767858"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085853985","display_name":"Yucong Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yucong Cao","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","Automotive Engineering Institute, Guangzhou Automotive Group Company Ltd., Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Automotive Engineering Institute, Guangzhou Automotive Group Company Ltd., Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085100184","display_name":"Zhongchao Liang","orcid":"https://orcid.org/0000-0003-0140-7251"},"institutions":[{"id":"https://openalex.org/I4391767858","display_name":"State Key Laboratory of Synthetical Automation for Process Industries","ror":"https://ror.org/0380ng272","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767858","https://openalex.org/I9224756"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongchao Liang","raw_affiliation_strings":["School of Mechanical Engineering and Automation and State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation and State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756","https://openalex.org/I4391767858"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100333966","display_name":"Wenfeng Li","orcid":"https://orcid.org/0000-0002-6125-371X"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Wenfeng Li","raw_affiliation_strings":["Department of Electromechanical Engineering, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033932927","display_name":"Zhengchao Xie","orcid":"https://orcid.org/0000-0001-7837-772X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengchao Xie","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063490642","display_name":"Pak Kin Wong","orcid":"https://orcid.org/0000-0002-7623-6904"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Pak Kin Wong","raw_affiliation_strings":["Department of Electromechanical Engineering, University of Macau, Macau, China"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5031849023"],"corresponding_institution_ids":["https://openalex.org/I14894300","https://openalex.org/I4391767858","https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":2.5632,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.89314221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"70","issue":"8","first_page":"3347","last_page":"3358"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9876999855041504,"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/T10524","display_name":"Traffic control and management","score":0.9829000234603882,"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":0.8579713106155396},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6499614715576172},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.6251201033592224},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6045035719871521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.459708034992218},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4230394661426544},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4197236895561218},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3939955532550812},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38541194796562195},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.07792443037033081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07312917709350586}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8579713106155396},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6499614715576172},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.6251201033592224},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6045035719871521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.459708034992218},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4230394661426544},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4197236895561218},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3939955532550812},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38541194796562195},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.07792443037033081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07312917709350586},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsi.2023.3276945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsi.2023.3276945","pdf_url":null,"source":{"id":"https://openalex.org/S116977442","display_name":"IEEE Transactions on Circuits and Systems I Regular Papers","issn_l":"1549-8328","issn":["1549-8328","1558-0806"],"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 Transactions on Circuits and Systems I: Regular Papers","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2619067847","display_name":null,"funder_award_id":"2022A1515011495","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G2845588469","display_name":null,"funder_award_id":"52175127","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3581287714","display_name":null,"funder_award_id":"51975109","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G388404431","display_name":null,"funder_award_id":"2021-KF-11-02","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G5156573757","display_name":null,"funder_award_id":"MYRG2022-00099-FST","funder_id":"https://openalex.org/F4320322841","funder_display_name":"Universidade de Macau"},{"id":"https://openalex.org/G6472916480","display_name":null,"funder_award_id":"N2203012","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6979058722","display_name":null,"funder_award_id":"2021AA151500583","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322841","display_name":"Universidade de Macau","ror":"https://ror.org/01r4q9n85"},{"id":"https://openalex.org/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1994216106","https://openalex.org/W1997237786","https://openalex.org/W2093219038","https://openalex.org/W2097696157","https://openalex.org/W2122216229","https://openalex.org/W2135493101","https://openalex.org/W2144943016","https://openalex.org/W2176887674","https://openalex.org/W2278918481","https://openalex.org/W2295677210","https://openalex.org/W2416889121","https://openalex.org/W2462000563","https://openalex.org/W2737927938","https://openalex.org/W2737949715","https://openalex.org/W2740424371","https://openalex.org/W2750065218","https://openalex.org/W2765560729","https://openalex.org/W2768332361","https://openalex.org/W2774391350","https://openalex.org/W2775886780","https://openalex.org/W2790841337","https://openalex.org/W2808537182","https://openalex.org/W2809631475","https://openalex.org/W2897048991","https://openalex.org/W2913455553","https://openalex.org/W2945494979","https://openalex.org/W2945794041","https://openalex.org/W2946653342","https://openalex.org/W3005370636","https://openalex.org/W3036357000","https://openalex.org/W3094889801","https://openalex.org/W3108872947","https://openalex.org/W3133776341","https://openalex.org/W3135507768","https://openalex.org/W3170611486","https://openalex.org/W3183115195","https://openalex.org/W3185154326","https://openalex.org/W3193261451","https://openalex.org/W3206720931","https://openalex.org/W4221012754","https://openalex.org/W4226489184","https://openalex.org/W4294958138","https://openalex.org/W4312532999","https://openalex.org/W4313028595"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W1486549961","https://openalex.org/W2362281781","https://openalex.org/W2106021496","https://openalex.org/W2392156621","https://openalex.org/W1488593138","https://openalex.org/W1982932202","https://openalex.org/W3012153955","https://openalex.org/W4242058195","https://openalex.org/W1522672041"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"an":[3,34],"observer-based":[4],"discrete-time":[5,70,112],"cascaded":[6],"control":[7,61,74,121],"(ODCC)":[8],"strategy":[9],"for":[10,24,63],"lateral":[11,64],"stabilization":[12,65],"of":[13,19,27,51,60,66,111,128,152],"Steer-by-Wire":[14],"(SbW)":[15],"vehicles":[16],"with":[17,80],"consideration":[18],"uncertainties":[20,84,130],"and":[21,31,82,85,101,117,131,144,150],"disturbances.":[22],"First,":[23],"the":[25,28,45,49,52,58,91,95,102,107,126,134,148,153],"observation":[26],"sideslip":[29],"angle":[30,100],"yaw":[32],"rate,":[33],"information":[35],"fusion-based":[36],"unscented":[37],"Kalman":[38],"filter":[39],"(IFUKF)":[40],"is":[41,76,122],"designed":[42],"to":[43,56,78,89,124,146],"reduce":[44,90],"negative":[46],"effect":[47],"from":[48],"variation":[50],"parameters;":[53],"Second,":[54],"aiming":[55],"eliminate":[57],"errors":[59],"variables":[62],"SbW":[67,135],"vehicles,":[68],"a":[69,109],"sliding":[71,115],"mode":[72,116],"predictive":[73],"(DSMPC)":[75],"presented":[77],"deal":[79],"matched":[81],"mismatched":[83],"input":[86],"constraint;":[87],"Third,":[88],"tracking":[92],"error":[93],"between":[94],"actual":[96],"front":[97],"wheel":[98],"steering":[99],"desired":[103],"one":[104],"generated":[105],"by":[106],"DSMPC,":[108],"combination":[110],"fast":[113],"terminal":[114],"active":[118],"disturbance":[119],"rejection":[120],"proposed":[123],"tackle":[125],"problems":[127],"parameter":[129],"disturbances":[132],"in":[133],"system.":[136],"Performance":[137],"evaluations":[138],"are":[139],"conducted":[140],"via":[141],"both":[142],"software-in-the-loop":[143],"hardware-in-the-loop":[145],"examine":[147],"availability":[149],"practicability":[151],"ODCC":[154],"strategy.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}