{"id":"https://openalex.org/W3190804985","doi":"https://doi.org/10.1109/tcst.2021.3103928","title":"Design and Experimental Evaluation of a Hierarchical Controller for an Autonomous Ground Vehicle With Large Uncertainties","display_name":"Design and Experimental Evaluation of a Hierarchical Controller for an Autonomous Ground Vehicle With Large Uncertainties","publication_year":2021,"publication_date":"2021-08-20","ids":{"openalex":"https://openalex.org/W3190804985","doi":"https://doi.org/10.1109/tcst.2021.3103928","mag":"3190804985"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3103928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3103928","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2108.03794","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100648016","display_name":"Juncheng Li","orcid":"https://orcid.org/0000-0002-1793-6775"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Juncheng Li","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-1793-6775","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082230080","display_name":"Maopeng Ran","orcid":"https://orcid.org/0000-0003-0984-144X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Maopeng Ran","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0984-144X","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.7049,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.9015227,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"30","issue":"3","first_page":"1215","last_page":"1227"},"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":0.9983000159263611,"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":0.9983000159263611,"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":0.998199999332428,"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":0.9965000152587891,"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":0.7051092386245728},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7026617527008057},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6295610666275024},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6276320815086365},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6242626309394836},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.576998233795166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5374854803085327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5141006112098694},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.5011715888977051},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4734377861022949},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.47074681520462036},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4332268238067627},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4223968982696533},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.42093801498413086},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.34459227323532104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3297063410282135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1755700707435608},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17266744375228882},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10981133580207825},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08666232228279114}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7051092386245728},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7026617527008057},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6295610666275024},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6276320815086365},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6242626309394836},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.576998233795166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5374854803085327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5141006112098694},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.5011715888977051},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4734377861022949},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.47074681520462036},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4332268238067627},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4223968982696533},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.42093801498413086},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.34459227323532104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3297063410282135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1755700707435608},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17266744375228882},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10981133580207825},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08666232228279114},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2021.3103928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3103928","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2108.03794","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.03794","pdf_url":"https://arxiv.org/pdf/2108.03794","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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2108.03794","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2108.03794","pdf_url":"https://arxiv.org/pdf/2108.03794","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":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W604108060","https://openalex.org/W609348088","https://openalex.org/W1514685314","https://openalex.org/W1969483458","https://openalex.org/W1998230610","https://openalex.org/W2000359213","https://openalex.org/W2077210076","https://openalex.org/W2084841010","https://openalex.org/W2087050671","https://openalex.org/W2106420625","https://openalex.org/W2110204796","https://openalex.org/W2123871098","https://openalex.org/W2130422193","https://openalex.org/W2135493101","https://openalex.org/W2145089737","https://openalex.org/W2163114046","https://openalex.org/W2170327615","https://openalex.org/W2190016588","https://openalex.org/W2314224933","https://openalex.org/W2341848647","https://openalex.org/W2346473199","https://openalex.org/W2521426437","https://openalex.org/W2551773494","https://openalex.org/W2562093128","https://openalex.org/W2610093888","https://openalex.org/W2915264809","https://openalex.org/W2945494979","https://openalex.org/W2995565556","https://openalex.org/W2996000010","https://openalex.org/W3044225827","https://openalex.org/W6681425221"],"related_works":["https://openalex.org/W3129061494","https://openalex.org/W2529889974","https://openalex.org/W4382702321","https://openalex.org/W3098571475","https://openalex.org/W3203846806","https://openalex.org/W4309868962","https://openalex.org/W3035652546","https://openalex.org/W2972482874","https://openalex.org/W4200632775","https://openalex.org/W1994244201"],"abstract_inverted_index":{"Autonomous":[0],"ground":[1],"vehicles":[2,17],"(AGVs)":[3],"are":[4,121,144,188],"receiving":[5],"increasing":[6],"attention,":[7],"and":[8,12,38,42,70,78,107,116,149,180,203],"the":[9,75,88,94,113,130,134,153,162,168,175,194],"motion":[10,40,201],"planning":[11,41,69,115,202],"control":[13,43,57,66,73,86,92,119,128,140,154,170,176,197,204],"problem":[14,52],"for":[15,161],"these":[16],"has":[18],"become":[19,44],"a":[20,55,63,79,104,147],"hot":[21],"research":[22],"topic.":[23],"In":[24,46],"real":[25,156],"applications":[26],"such":[27],"as":[28],"material":[29],"handling,":[30],"an":[31,99,108,124,183],"AGV":[32,165,184],"is":[33,60],"subject":[34],"to":[35,173],"large":[36,207],"uncertainties":[37,143],"its":[39],"challenging.":[45],"this":[47,51],"article,":[48],"we":[49],"investigate":[50],"by":[53,62],"proposing":[54],"hierarchical":[56,196],"scheme,":[58],"which":[59],"integrated":[61],"model":[64],"predictive":[65],"(MPC)-based":[67],"path":[68,102,114],"trajectory":[71,117],"tracking":[72,110,118],"at":[74,87,93,129],"high":[76,95],"level,":[77],"reduced-order":[80],"extended":[81],"state":[82],"observer":[83],"(RESO)-based":[84],"dynamic":[85,166],"low":[89,131],"level.":[90],"The":[91,127,142,190],"level":[96,132],"consists":[97],"of":[98,136],"MPC-based":[100,109],"improved":[101],"planner,":[103,106],"velocity":[105],"controller.":[111],"Both":[112],"problems":[120],"formulated":[122],"under":[123],"MPC":[125],"framework.":[126],"employs":[133],"idea":[135],"active":[137],"disturbance":[138],"rejection":[139],"(ADRC).":[141],"estimated":[145],"via":[146],"RESO":[148],"then":[150],"compensated":[151],"in":[152,155],"time.":[157],"We":[158],"show":[159],"that,":[160],"first-order":[163],"uncertain":[164],"model,":[167],"RESO-based":[169],"only":[171],"needs":[172],"know":[174],"direction.":[177],"Finally,":[178],"simulations":[179],"experiments":[181],"on":[182],"with":[185,206],"different":[186],"payloads":[187],"conducted.":[189],"results":[191],"illustrate":[192],"that":[193],"proposed":[195],"scheme":[198],"achieves":[199],"satisfactory":[200],"performance":[205],"uncertainties.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2021-08-16T00:00:00"}
