{"id":"https://openalex.org/W4407948443","doi":"https://doi.org/10.1109/tits.2025.3542849","title":"Adaptive Robust Formation Control Strategy for CAVs Merging at Highway On-Ramps","display_name":"Adaptive Robust Formation Control Strategy for CAVs Merging at Highway On-Ramps","publication_year":2025,"publication_date":"2025-02-26","ids":{"openalex":"https://openalex.org/W4407948443","doi":"https://doi.org/10.1109/tits.2025.3542849"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3542849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3542849","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/A5047422511","display_name":"Xiangcheng Pan","orcid":"https://orcid.org/0000-0001-9561-0992"},"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":"Xiangcheng Pan","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China"],"raw_orcid":"https://orcid.org/0000-0001-9561-0992","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075069444","display_name":"Xiaofang Yuan","orcid":"https://orcid.org/0000-0001-7280-7207"},"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":"Xiaofang Yuan","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China"],"raw_orcid":"https://orcid.org/0000-0001-7280-7207","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055621451","display_name":"Zhigang Ling","orcid":"https://orcid.org/0000-0002-4752-769X"},"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":"Zhigang Ling","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055645919","display_name":"Zhe Li","orcid":"https://orcid.org/0000-0003-4497-0028"},"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":"Zhe Li","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China"],"raw_orcid":"https://orcid.org/0000-0003-4497-0028","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451441","display_name":"Kexin Liu","orcid":"https://orcid.org/0000-0002-7150-2820"},"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":"Kexin Liu","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"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":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":1.5874,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80628904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"26","issue":"7","first_page":"10456","last_page":"10470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.954800009727478,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.9185000061988831,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5997390151023865},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5327914357185364},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5015344619750977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47048142552375793},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4115586280822754},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36527690291404724},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.362946093082428},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.32493308186531067},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2910861670970917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20163258910179138}],"concepts":[{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5997390151023865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5327914357185364},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5015344619750977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47048142552375793},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4115586280822754},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36527690291404724},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.362946093082428},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.32493308186531067},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2910861670970917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20163258910179138},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3542849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3542849","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":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G2011710298","display_name":null,"funder_award_id":"2023YFB2504703","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6875898876","display_name":null,"funder_award_id":"62473140","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"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2023319687","https://openalex.org/W2043388587","https://openalex.org/W2089177739","https://openalex.org/W2094489189","https://openalex.org/W2162947600","https://openalex.org/W2508448572","https://openalex.org/W2897432174","https://openalex.org/W2899684168","https://openalex.org/W2916231201","https://openalex.org/W2921436962","https://openalex.org/W2921918720","https://openalex.org/W2962681260","https://openalex.org/W2963135764","https://openalex.org/W2964336994","https://openalex.org/W2973456785","https://openalex.org/W2980571877","https://openalex.org/W3029672601","https://openalex.org/W3043936627","https://openalex.org/W3104608980","https://openalex.org/W3120230705","https://openalex.org/W3120438425","https://openalex.org/W3133968425","https://openalex.org/W3161873775","https://openalex.org/W3179943596","https://openalex.org/W3189569609","https://openalex.org/W3195618319","https://openalex.org/W3203418317","https://openalex.org/W4205244288","https://openalex.org/W4205562975","https://openalex.org/W4220920561","https://openalex.org/W4285114034","https://openalex.org/W4285242928","https://openalex.org/W4285266454","https://openalex.org/W4289792691","https://openalex.org/W4296558699","https://openalex.org/W4321770556","https://openalex.org/W4323843497","https://openalex.org/W4361029789","https://openalex.org/W4379409146","https://openalex.org/W4380569834","https://openalex.org/W4381733136","https://openalex.org/W4387245307","https://openalex.org/W4387952261","https://openalex.org/W4393972704"],"related_works":["https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529","https://openalex.org/W1550017747","https://openalex.org/W2152839317","https://openalex.org/W2969358681"],"abstract_inverted_index":{"Highway":[0],"on-ramps":[1],"are":[2,90],"typical":[3],"bottlenecks":[4],"for":[5,38],"the":[6,52,55,70,79,98,105,111,123,150],"deployment":[7],"of":[8,47,134,140,143],"connected":[9],"and":[10,22,74,137,159,163],"automated":[11],"vehicles":[12],"(CAVs).":[13],"However,":[14],"few":[15],"studies":[16],"have":[17],"considered":[18],"time-varying":[19,84,144],"traffic":[20,85,157],"volume":[21],"dynamic":[23],"uncertainties":[24],"in":[25,104],"real-world":[26],"scenarios.":[27],"This":[28],"paper":[29],"proposes":[30],"an":[31,114],"adaptive":[32,115],"robust":[33,116],"formation":[34,58],"control":[35,117],"strategy":[36,80,152],"(ARFC)":[37],"CAVs":[39,62],"to":[40,81,83,92,167],"address":[41],"these":[42],"challenges.":[43],"The":[44],"ARFC":[45],"consists":[46],"two":[48],"stages:":[49],"1)":[50],"In":[51,110],"tactical":[53],"stage,":[54,113],"constraint-oriented":[56],"platoon":[57],"algorithm":[59],"classifies":[60],"approaching":[61],"into":[63],"multiple":[64],"local":[65],"virtual":[66],"platoons":[67],"(LVP),":[68],"assigns":[69],"collision-free":[71],"merging":[72,106],"sequences":[73],"driving":[75],"modes,":[76],"thereby":[77],"enabling":[78],"adapt":[82],"volume.":[86],"Unified":[87],"spatial-dependent":[88],"constraints":[89],"formulated":[91],"construct":[93],"this":[94],"geometry":[95],"topology,":[96],"where":[97],"spatial":[99],"dependence":[100],"ensures":[101],"collision":[102],"avoidance":[103],"conflict":[107],"zone.":[108],"2)":[109],"operational":[112],"scheme":[118],"is":[119],"designed":[120],"based":[121],"on":[122],"Lyapunov":[124],"min-max":[125],"approach,":[126],"rendering":[127],"uniform":[128,130],"boundedness,":[129],"ultimate":[131],"boundedness":[132],"performance":[133],"tracking":[135],"errors,":[136],"string":[138],"stability":[139],"LVP,":[141],"regardless":[142],"uncertainties.":[145],"Comprehensive":[146],"validations":[147],"demonstrate":[148],"that":[149],"proposed":[151],"performs":[153],"effectively":[154],"under":[155],"different":[156],"demands,":[158],"improves":[160],"ride":[161],"comfort":[162],"fuel":[164],"economy":[165],"compared":[166],"baseline":[168],"methods.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}