{"id":"https://openalex.org/W2946159262","doi":"https://doi.org/10.1109/tie.2019.2916387","title":"An Explicit Nonlinear Model Predictive ABS Controller for Electro-Hydraulic Braking Systems","display_name":"An Explicit Nonlinear Model Predictive ABS Controller for Electro-Hydraulic Braking Systems","publication_year":2019,"publication_date":"2019-05-20","ids":{"openalex":"https://openalex.org/W2946159262","doi":"https://doi.org/10.1109/tie.2019.2916387","mag":"2946159262"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2916387","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2019.2916387","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/8982108/08718528.pdf","source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/41/8982108/08718528.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040646238","display_name":"Davide Tavernini","orcid":"https://orcid.org/0000-0001-5171-8803"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Davide Tavernini","raw_affiliation_strings":["University of Surrey, Guildford, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5171-8803","affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033333061","display_name":"Fabio Vacca","orcid":"https://orcid.org/0000-0002-0730-896X"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fabio Vacca","raw_affiliation_strings":["University of Surrey, Guildford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0730-896X","affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078127927","display_name":"Mathias Metzler","orcid":"https://orcid.org/0000-0002-3431-6797"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mathias Metzler","raw_affiliation_strings":["University of Surrey, Guildford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3431-6797","affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090555542","display_name":"Dzmitry Savitski","orcid":"https://orcid.org/0000-0003-2386-8657"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dzmitry Savitski","raw_affiliation_strings":["Arrival Germany GmbH, Pforzheim, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2386-8657","affiliations":[{"raw_affiliation_string":"Arrival Germany GmbH, Pforzheim, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082684102","display_name":"Valentin Ivanov","orcid":"https://orcid.org/0000-0001-7252-7184"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Valentin Ivanov","raw_affiliation_strings":["Technische Universit\u00e4t Ilmenau, 98693 Ilmenau, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7252-7184","affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Ilmenau, 98693 Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025541360","display_name":"Patrick Gruber","orcid":"https://orcid.org/0000-0003-1030-6655"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Patrick Gruber","raw_affiliation_strings":["University of Surrey, Guildford, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1030-6655","affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048622397","display_name":"Ahu Ece Hartavi","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ahu Ece Hartavi","raw_affiliation_strings":["University of Surrey, Guildford, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083052483","display_name":"Miguel Dhaens","orcid":"https://orcid.org/0000-0003-3644-3340"},"institutions":[{"id":"https://openalex.org/I4210095085","display_name":"Tenneco (Belgium)","ror":"https://ror.org/00p3e1n56","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210095085","https://openalex.org/I68109076"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Miguel Dhaens","raw_affiliation_strings":["Tenneco Automotive Europe BVBA, Sint-Truiden, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tenneco Automotive Europe BVBA, Sint-Truiden, Belgium","institution_ids":["https://openalex.org/I4210095085"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030174677","display_name":"Aldo Sorniotti","orcid":"https://orcid.org/0000-0002-4848-058X"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Aldo Sorniotti","raw_affiliation_strings":["University of Surrey, Guildford, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4848-058X","affiliations":[{"raw_affiliation_string":"University of Surrey, Guildford, U.K","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.3037,"has_fulltext":true,"cited_by_count":111,"citation_normalized_percentile":{"value":0.9848353,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"67","issue":"5","first_page":"3990","last_page":"4001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9980999827384949,"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/T13644","display_name":"Control Systems in Engineering","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7384543418884277},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6695935726165771},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.606573760509491},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6008083820343018},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5062936544418335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47876110672950745},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47661033272743225},{"id":"https://openalex.org/keywords/dynamic-braking","display_name":"Dynamic braking","score":0.45129793882369995},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3091328740119934},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2875358462333679},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1701495349407196},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.15339750051498413},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14468249678611755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09916523098945618}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7384543418884277},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6695935726165771},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.606573760509491},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6008083820343018},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5062936544418335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47876110672950745},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47661033272743225},{"id":"https://openalex.org/C158549904","wikidata":"https://www.wikidata.org/wiki/Q1155327","display_name":"Dynamic braking","level":3,"score":0.45129793882369995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3091328740119934},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2875358462333679},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1701495349407196},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.15339750051498413},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14468249678611755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09916523098945618},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":3,"locations":[{"id":"doi:10.1109/tie.2019.2916387","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2019.2916387","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/8982108/08718528.pdf","source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:alma.44SUR_INST:11138862380002346","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:epubs.surrey.ac.uk:851909","is_oa":false,"landing_page_url":"http://epubs.surrey.ac.uk/851909/1/An%20explicit%20nonlinear%20model%20predictive%20ABS%20controller.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400680","display_name":"Surrey Research Insight Open Access (The University of Surrey)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28290843","host_organization_name":"University of Surrey","host_organization_lineage":["https://openalex.org/I28290843"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/tie.2019.2916387","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tie.2019.2916387","pdf_url":"https://ieeexplore.ieee.org/ielx7/41/8982108/08718528.pdf","source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2431450067","display_name":"INNOVATIVE ENGINEERING OF GROUND VEHICLES WITH INTEGRATED ACTIVE CHASSIS SYSTEMS","funder_award_id":"645736","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G345392520","display_name":null,"funder_award_id":"824254 (TELL)","funder_id":"https://openalex.org/F4320338345","funder_display_name":"H2020 Transport"},{"id":"https://openalex.org/G8582147432","display_name":"Towards a fast-uptake of mEdium/Low-voltage eLectric power trains","funder_award_id":"824254","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338345","display_name":"H2020 Transport","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1488542424","https://openalex.org/W1506675120","https://openalex.org/W1524886571","https://openalex.org/W1528732265","https://openalex.org/W1590331362","https://openalex.org/W1649074408","https://openalex.org/W1919252269","https://openalex.org/W1956785730","https://openalex.org/W1964237964","https://openalex.org/W1978956894","https://openalex.org/W2013094012","https://openalex.org/W2013156064","https://openalex.org/W2031280071","https://openalex.org/W2041109651","https://openalex.org/W2041424511","https://openalex.org/W2057840413","https://openalex.org/W2058289215","https://openalex.org/W2062915697","https://openalex.org/W2067390368","https://openalex.org/W2069833711","https://openalex.org/W2082922837","https://openalex.org/W2097379619","https://openalex.org/W2110801681","https://openalex.org/W2120516841","https://openalex.org/W2123871098","https://openalex.org/W2131588967","https://openalex.org/W2145520800","https://openalex.org/W2150506037","https://openalex.org/W2166555165","https://openalex.org/W2168089174","https://openalex.org/W2218592086","https://openalex.org/W2436008783","https://openalex.org/W2440577141","https://openalex.org/W2483216001","https://openalex.org/W2513336264","https://openalex.org/W2526086648","https://openalex.org/W2587150768","https://openalex.org/W2612346904","https://openalex.org/W2756328215","https://openalex.org/W2764328989","https://openalex.org/W2795574146","https://openalex.org/W2795656626","https://openalex.org/W2809149939","https://openalex.org/W3002617048","https://openalex.org/W3149189859","https://openalex.org/W4206713226","https://openalex.org/W4236941824","https://openalex.org/W4246988212","https://openalex.org/W6684344988","https://openalex.org/W6773632353"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1981727740","https://openalex.org/W2368407738","https://openalex.org/W2143511391"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,42,82,85,93,121,128,145,156,159],"development":[4],"and":[5,106,134,138,141,148],"Hardware-in-the-Loop":[6],"(HiL)":[7],"testing":[8],"of":[9,84,144],"an":[10,18,28,59],"explicit":[11],"nonlinear":[12],"model":[13,78],"predictive":[14],"controller":[15],"(eNMPC)":[16],"for":[17,23,81],"antilock":[19],"braking":[20,30,94,104],"system":[21,95,123],"(ABS)":[22],"passenger":[24],"cars,":[25],"actuated":[26],"using":[27],"electro-hydraulic":[29],"unit.":[31],"The":[32,54,97,116],"control":[33,62,122],"structure":[34],"includes":[35],"a":[36,88,112],"compensation":[37],"strategy":[38],"to":[39,46,127,155],"guard":[40],"against":[41,111],"performance":[43,108],"degradation":[44],"due":[45],"actuation":[47],"dead":[48],"times,":[49],"identified":[50],"by":[51],"experimental":[52],"tests.":[53],"eNMPC":[55,98,117],"is":[56,79,99,109],"run":[57],"on":[58,87],"automotive":[60],"rapid":[61],"prototyping":[63],"unit,":[64],"which":[65],"shows":[66],"its":[67,107],"real-time":[68],"capability":[69],"with":[70,92,125,153,158],"comfortable":[71],"margin.":[72],"A":[73],"validated":[74],"high-fidelity":[75],"vehicle":[76,136,157],"simulation":[77],"used":[80],"assessment":[83],"ABS":[86],"HiL":[89],"rig":[90],"equipped":[91],"hardware.":[96],"tested":[100],"in":[101,130],"seven":[102],"emergency":[103],"scenarios,":[105],"benchmarked":[110],"proportional-integral-derivative":[113],"(PID)":[114],"controller.":[115],"results":[118],"show:":[119],"1)":[120],"robustness":[124],"respect":[126,154],"variations":[129],"tire-road":[131],"friction":[132],"condition":[133],"initial":[135],"speed;":[137],"2)":[139],"consistent":[140],"significant":[142],"improvement":[143],"stopping":[146],"distance":[147],"wheel":[149],"slip":[150],"reference":[151],"tracking,":[152],"PID":[160],"ABS.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}