{"id":"https://openalex.org/W2883242703","doi":"https://doi.org/10.1109/tfuzz.2018.2856187","title":"A Novel Fuzzy Observer-Based Steering Control Approach for Path Tracking in Autonomous Vehicles","display_name":"A Novel Fuzzy Observer-Based Steering Control Approach for Path Tracking in Autonomous Vehicles","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2883242703","doi":"https://doi.org/10.1109/tfuzz.2018.2856187","mag":"2883242703"},"language":"en","primary_location":{"id":"doi:10.1109/tfuzz.2018.2856187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2018.2856187","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","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/A5010117485","display_name":"Changzhu Zhang","orcid":"https://orcid.org/0000-0001-7244-7280"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changzhu Zhang","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112253957","display_name":"Jinfei Hu","orcid":"https://orcid.org/0000-0003-3720-8369"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinfei Hu","raw_affiliation_strings":["Innovation and Application Research Institute, Zhejiang Ocean University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Innovation and Application Research Institute, Zhejiang Ocean University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050453488","display_name":"Jianbin Qiu","orcid":"https://orcid.org/0000-0001-7707-6159"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbin Qiu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, and the Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, and the Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077181434","display_name":"Weilin Yang","orcid":"https://orcid.org/0000-0003-3112-3372"},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weilin Yang","raw_affiliation_strings":["Institute of Automation, Jiangnan University, Wuxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Jiangnan University, Wuxi, China","institution_ids":["https://openalex.org/I111599522","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112130109","display_name":"Hong Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Sun","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.1969,"has_fulltext":false,"cited_by_count":177,"citation_normalized_percentile":{"value":0.98506935,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"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":0.9976999759674072,"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/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/carsim","display_name":"CarSim","score":0.8453904390335083},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8279076814651489},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.6339895725250244},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.629172682762146},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6080611944198608},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5274538993835449},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5270455479621887},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5120111107826233},{"id":"https://openalex.org/keywords/linear-matrix-inequality","display_name":"Linear matrix inequality","score":0.49651938676834106},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49593624472618103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4900614023208618},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4253329634666443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.373854398727417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21709057688713074},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.21277356147766113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09986278414726257},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09868299961090088}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.8453904390335083},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8279076814651489},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.6339895725250244},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.629172682762146},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6080611944198608},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5274538993835449},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5270455479621887},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5120111107826233},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.49651938676834106},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49593624472618103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4900614023208618},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4253329634666443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.373854398727417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21709057688713074},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.21277356147766113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09986278414726257},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09868299961090088},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tfuzz.2018.2856187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2018.2856187","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W198879584","https://openalex.org/W835401223","https://openalex.org/W1484920569","https://openalex.org/W1546390994","https://openalex.org/W1968082040","https://openalex.org/W1968452087","https://openalex.org/W1968651586","https://openalex.org/W2002675616","https://openalex.org/W2007784570","https://openalex.org/W2008375920","https://openalex.org/W2008500509","https://openalex.org/W2027590459","https://openalex.org/W2027758424","https://openalex.org/W2029399628","https://openalex.org/W2032173185","https://openalex.org/W2032284775","https://openalex.org/W2036021531","https://openalex.org/W2056934327","https://openalex.org/W2066467764","https://openalex.org/W2078133820","https://openalex.org/W2084083808","https://openalex.org/W2089322056","https://openalex.org/W2106730320","https://openalex.org/W2106818252","https://openalex.org/W2112930335","https://openalex.org/W2113640862","https://openalex.org/W2115476210","https://openalex.org/W2117408957","https://openalex.org/W2126581329","https://openalex.org/W2128737020","https://openalex.org/W2132312293","https://openalex.org/W2143050169","https://openalex.org/W2143752115","https://openalex.org/W2159924794","https://openalex.org/W2159970762","https://openalex.org/W2171868700","https://openalex.org/W2172117433","https://openalex.org/W2285897670","https://openalex.org/W2433282201","https://openalex.org/W2477231637","https://openalex.org/W2506249013","https://openalex.org/W2551789883","https://openalex.org/W2560529264","https://openalex.org/W2563762401","https://openalex.org/W2567141787","https://openalex.org/W2606823482","https://openalex.org/W2735834722","https://openalex.org/W2754656639","https://openalex.org/W2764185533","https://openalex.org/W2769125990","https://openalex.org/W2789588261","https://openalex.org/W3146876554","https://openalex.org/W3210839039","https://openalex.org/W4252199061","https://openalex.org/W6746205570"],"related_works":["https://openalex.org/W2090534964","https://openalex.org/W2107572791","https://openalex.org/W2007435079","https://openalex.org/W2772596473","https://openalex.org/W1979110738","https://openalex.org/W2534917980","https://openalex.org/W1492891152","https://openalex.org/W4251854423","https://openalex.org/W3186144085","https://openalex.org/W2022405596"],"abstract_inverted_index":{"In":[0,22],"this":[1],"paper,":[2],"the":[3,15,24,30,39,53,61,73,99,129,137,155,158,174,184],"problem":[4],"of":[5,17,32,36,131,157,176],"steering":[6,104],"control":[7,105],"is":[8,82,109,126,143,165,191],"investigated":[9],"for":[10,106],"vehicle":[11,25,40,50,54,107],"path":[12,76,139],"tracking":[13,77,140],"in":[14,128,167,189],"presence":[16],"parametric":[18,195],"uncertainties":[19,196],"and":[20,94,197],"nonlinearities.":[21,198],"practice,":[23],"mass":[26],"varies":[27],"due":[28],"to":[29,98],"number":[31],"passengers":[33],"or":[34],"amount":[35],"payload,":[37],"while":[38],"velocity":[41],"also":[42,192],"changes":[43],"during":[44],"normal":[45],"cruising,":[46],"which":[47,173],"significantly":[48],"influences":[49],"dynamics.":[51],"Moreover,":[52],"dynamics":[55,108],"are":[56],"strongly":[57],"nonlinear":[58,75],"caused":[59],"by":[60],"tire/road":[62],"forces":[63],"under":[64,111],"different":[65],"road":[66],"surface":[67],"conditions.":[68],"With":[69],"fuzzy":[70,88,100,113,160,179],"modeling":[71],"method,":[72],"original":[74],"system":[78,142],"with":[79,90,146,194],"parameter":[80],"variations":[81],"first":[83],"formulated":[84],"as":[85],"a":[86,112,123,147,177],"T-S":[87,178],"model":[89,187],"additive":[91],"norm-bounded":[92],"uncertainties,":[93],"then":[95],"an":[96],"approach":[97],"observer-based":[101,161,180],"output":[102,162,181],"feedback":[103,163],"proposed":[110,159],"Lyapunov":[114],"function":[115],"framework.":[116],"By":[117],"employing":[118],"matrix":[119,133],"inequality":[120],"convexifying":[121],"techniques,":[122],"sufficient":[124],"condition":[125],"developed":[127],"form":[130],"linear":[132],"inequalities":[134],"such":[135],"that":[136],"closed-loop":[138,185],"error":[141],"asymptotically":[144],"stable":[145],"guaranteed":[148],"H":[149],"<sub":[150],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[151],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</sub>":[152],"level.":[153],"Finally,":[154],"effectiveness":[156],"controller":[164,182],"demonstrated":[166],"Carsim/Matlab":[168],"joint":[169],"simulation":[170],"environment,":[171],"via":[172],"advantage":[175],"over":[183],"driver":[186],"embedded":[188],"Carsim":[190],"shown":[193]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":22}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}