{"id":"https://openalex.org/W3206720931","doi":"https://doi.org/10.1109/tits.2021.3118375","title":"Path Tracking Control for Underactuated Vehicles With Matched-Mismatched Uncertainties: An Uncertainty Decomposition Based Constraint-Following Approach","display_name":"Path Tracking Control for Underactuated Vehicles With Matched-Mismatched Uncertainties: An Uncertainty Decomposition Based Constraint-Following Approach","publication_year":2021,"publication_date":"2021-10-14","ids":{"openalex":"https://openalex.org/W3206720931","doi":"https://doi.org/10.1109/tits.2021.3118375","mag":"3206720931"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2021.3118375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3118375","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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/A5100728275","display_name":"Zeyu Yang","orcid":"https://orcid.org/0000-0002-7232-5678"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Yang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-7232-5678","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087389386","display_name":"Jin Huang","orcid":"https://orcid.org/0000-0001-8774-2936"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8774-2936","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036227113","display_name":"Hui Yin","orcid":"https://orcid.org/0000-0002-6611-2684"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Yin","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-6611-2684","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009072257","display_name":"Diange Yang","orcid":"https://orcid.org/0000-0003-0825-5609"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diange Yang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101987780","display_name":"Zhihua Zhong","orcid":"https://orcid.org/0009-0003-6530-9930"},"institutions":[{"id":"https://openalex.org/I40246663","display_name":"Chinese Academy of Engineering","ror":"https://ror.org/00z3yke57","country_code":"CN","type":"other","lineage":["https://openalex.org/I40246663"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihua Zhong","raw_affiliation_strings":["Chinese Academy of Engineering, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Engineering, Beijing, China","institution_ids":["https://openalex.org/I40246663"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1587,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.91847566,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"23","issue":"8","first_page":"12894","last_page":"12907"},"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":0.9952999949455261,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9868000149726868,"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/underactuation","display_name":"Underactuation","score":0.6751098036766052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6569540500640869},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.626175045967102},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5697212815284729},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5253664255142212},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.52147376537323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4687903821468353},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45391327142715454},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35066738724708557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3384585976600647},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2842033803462982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20896604657173157},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.062496066093444824}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6751098036766052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6569540500640869},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.626175045967102},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5697212815284729},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5253664255142212},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.52147376537323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4687903821468353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45391327142715454},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35066738724708557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3384585976600647},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2842033803462982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20896604657173157},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.062496066093444824},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2021.3118375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3118375","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G6999929456","display_name":null,"funder_award_id":"U1701262","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7544117546","display_name":null,"funder_award_id":"U1801263","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8465725714","display_name":"\u57fa\u4e8e\u8d1d\u53f6\u65af\u52a0\u901f\u786c\u4ef6\u7684\u89c6\u89c9\u573a\u666f\u8ba4\u77e5\u7c7b\u8111\u8ba1\u7b97\u7814\u7a76","funder_award_id":"61872217","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W607647662","https://openalex.org/W2002675616","https://openalex.org/W2018461753","https://openalex.org/W2073224148","https://openalex.org/W2094489189","https://openalex.org/W2153300830","https://openalex.org/W2167704915","https://openalex.org/W2171625567","https://openalex.org/W2174765655","https://openalex.org/W2315797843","https://openalex.org/W2323597089","https://openalex.org/W2343568200","https://openalex.org/W2346595613","https://openalex.org/W2551773494","https://openalex.org/W2561744104","https://openalex.org/W2755843538","https://openalex.org/W2762441957","https://openalex.org/W2788472701","https://openalex.org/W2800937130","https://openalex.org/W2883514419","https://openalex.org/W2905069443","https://openalex.org/W2913048170","https://openalex.org/W2913416895","https://openalex.org/W2923554444","https://openalex.org/W2944441813","https://openalex.org/W2945494979","https://openalex.org/W2967023717","https://openalex.org/W2971232659","https://openalex.org/W2981026909","https://openalex.org/W2982679019","https://openalex.org/W3005953922","https://openalex.org/W3011432977","https://openalex.org/W3013687483","https://openalex.org/W3046199532","https://openalex.org/W3136462695","https://openalex.org/W4231262853"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W4321093571"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,97,137,162,171],"robust":[4,88,172],"path":[5,49,53],"tracking":[6,54,84,216],"control":[7,69,89,99,173,188,211],"method":[8,189],"by":[9,161],"utilizing":[10],"the":[11,35,39,47,52,63,74,78,82,102,115,127,132,140,146,153,178,186,191,196,209,219],"ideology":[12],"of":[13,38,62,131,221],"constraint-following":[14,87,147,193],"approach":[15],"for":[16,101],"uncertain":[17],"underactuated":[18,75],"autonomous":[19],"vehicles.":[20],"The":[21,68,86,156,205],"uncertainties":[22],"are":[23,203],"bounded":[24],"with":[25],"an":[26,59],"unknown":[27],"boundary.":[28],"They":[29],"do":[30],"not":[31],"all":[32],"fall":[33],"within":[34],"range":[36],"space":[37],"input":[40],"matrix.":[41],"Based":[42],"on":[43,126,177],"kinematic":[44],"relations":[45],"between":[46],"desired":[48,83],"and":[50,110,122,199],"vehicle,":[51],"task":[55],"is":[56,71,91,105,117,143,159,174],"transformed":[57],"into":[58,120],"equality":[60],"constraint":[61,112,133],"vehicle":[64,76,201],"lateral":[65],"dynamics":[66,134],"states.":[67],"goal":[70],"to":[72,145],"make":[73],"follow":[77],"constraint,":[79],"thus":[80],"realizing":[81],"performance.":[85,194],"(CFRC)":[90],"designed":[92,175],"in":[93,152,218],"two":[94],"steps.":[95],"First,":[96],"servo":[98],"design":[100],"nominal":[103],"system":[104],"devised":[106],"without":[107],"considering":[108],"uncertainty":[109,116,142,158],"initial":[111],"deviation.":[113],"Second,":[114],"meticulously":[118],"decomposed":[119],"matched":[121,157,180],"mismatched":[123,141],"portions":[124],"based":[125,176],"geometric":[128,148],"structural":[129],"characteristics":[130],"system.":[135],"As":[136],"result,":[138],"since":[139],"orthogonal":[144],"space,":[149],"it":[150],"\u201cdisappears\u201d":[151],"stability":[154],"analysis.":[155],"estimated":[160,179],"self-adjusting":[163],"leakage":[164],"type":[165],"adaptive":[166],"law.":[167],"On":[168],"this":[169],"basis,":[170],"uncertainty.":[181],"Through":[182],"Lyapunov":[183],"minimax":[184],"analysis,":[185],"proposed":[187,210],"guarantees":[190],"approximate":[192],"Finally,":[195],"TruckSim\u2013Simulink":[197],"co-simulations":[198],"real":[200],"experiments":[202],"presented.":[204],"results":[206],"show":[207],"that":[208],"can":[212],"robustly":[213],"realize":[214],"excellent":[215],"performance":[217],"presence":[220],"time-vary":[222],"uncertainties.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
