{"id":"https://openalex.org/W4390777654","doi":"https://doi.org/10.1109/tiv.2023.3348632","title":"ACP-Incorporated Perturbation-Resistant Neural Dynamics Controller for Autonomous Vehicles","display_name":"ACP-Incorporated Perturbation-Resistant Neural Dynamics Controller for Autonomous Vehicles","publication_year":2024,"publication_date":"2024-01-09","ids":{"openalex":"https://openalex.org/W4390777654","doi":"https://doi.org/10.1109/tiv.2023.3348632"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3348632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3348632","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5053419991","display_name":"Ying Liufu","orcid":"https://orcid.org/0000-0001-6544-9798"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ying Liufu","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Long Jin","orcid":"https://orcid.org/0000-0002-4806-6805"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Jin","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091667639","display_name":"Mingsheng Shang","orcid":"https://orcid.org/0000-0002-7024-2270"},"institutions":[{"id":"https://openalex.org/I4210123021","display_name":"Chongqing Institute of Green and Intelligent Technology","ror":"https://ror.org/031npqv35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210123021"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingsheng Shang","raw_affiliation_strings":["Chongqing Key Laboratory of Big Data and Intelligent Computing, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Chongqing Key Laboratory of Big Data and Intelligent Computing, Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China","institution_ids":["https://openalex.org/I4210123021"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063463192","display_name":"Xingxia Wang","orcid":"https://orcid.org/0000-0003-2271-156X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingxia Wang","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]},{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113600509","display_name":"Fei\u2010Yue Wang","orcid":"https://orcid.org/0000-0001-9185-3989"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"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":"Fei-Yue Wang","raw_affiliation_strings":["State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5053419991"],"corresponding_institution_ids":["https://openalex.org/I76214153"],"apc_list":null,"apc_paid":null,"fwci":8.3003,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.98385972,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"9","issue":"4","first_page":"4675","last_page":"4686"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"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/T10524","display_name":"Traffic control and management","score":0.9958999752998352,"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/control-theory","display_name":"Control theory (sociology)","score":0.7189086079597473},{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.6807641983032227},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6322205066680908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.553557813167572},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5263161659240723},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5001230239868164},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4860430359840393},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4770345389842987},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4769812226295471},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41835179924964905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32218852639198303},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19426101446151733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14761224389076233},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.07510805130004883}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7189086079597473},{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.6807641983032227},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6322205066680908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.553557813167572},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5263161659240723},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5001230239868164},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4860430359840393},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4770345389842987},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4769812226295471},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41835179924964905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32218852639198303},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19426101446151733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14761224389076233},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.07510805130004883},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3348632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3348632","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1067596867","display_name":null,"funder_award_id":"lzujbky-2023-ct05","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G248516053","display_name":null,"funder_award_id":"lzujbky-2023-it01","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4308658107","display_name":null,"funder_award_id":"62372427","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4531560259","display_name":null,"funder_award_id":"62176109","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7261100061","display_name":null,"funder_award_id":"lzujbky-2023-ey07","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1978487313","https://openalex.org/W2015431502","https://openalex.org/W2015957593","https://openalex.org/W2051521886","https://openalex.org/W2139656224","https://openalex.org/W2390401404","https://openalex.org/W2512395495","https://openalex.org/W2622727889","https://openalex.org/W2782495288","https://openalex.org/W2801497431","https://openalex.org/W2895302821","https://openalex.org/W2912798476","https://openalex.org/W2964300933","https://openalex.org/W2968043153","https://openalex.org/W3008218687","https://openalex.org/W3120903469","https://openalex.org/W3135101032","https://openalex.org/W3169672010","https://openalex.org/W3202414904","https://openalex.org/W3212851478","https://openalex.org/W3216591671","https://openalex.org/W3217645262","https://openalex.org/W4205184873","https://openalex.org/W4213209987","https://openalex.org/W4225509088","https://openalex.org/W4226175347","https://openalex.org/W4226180458","https://openalex.org/W4226410592","https://openalex.org/W4287617987","https://openalex.org/W4301832133","https://openalex.org/W4312493739","https://openalex.org/W4312550876","https://openalex.org/W4312901970","https://openalex.org/W4313039005","https://openalex.org/W4313886728","https://openalex.org/W4322576439","https://openalex.org/W4362714502","https://openalex.org/W4362714629","https://openalex.org/W4366957516","https://openalex.org/W4368232749","https://openalex.org/W4377298394","https://openalex.org/W4378804874","https://openalex.org/W4379538705","https://openalex.org/W4380905946","https://openalex.org/W4385834448","https://openalex.org/W4386362919","https://openalex.org/W4386736582","https://openalex.org/W4386737202"],"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/W1492891152","https://openalex.org/W2534917980","https://openalex.org/W4251854423","https://openalex.org/W3186144085","https://openalex.org/W2022405596"],"abstract_inverted_index":{"Autonomous":[0],"vehicle":[1],"control":[2,27,44,132],"systems":[3],"are":[4,92],"unavoidably":[5],"influenced":[6],"by":[7],"diverse":[8],"noise":[9,87,137],"perturbations":[10],"from":[11],"the":[12,24,38,42,55,72,98,107,112],"unpredictable":[13],"external":[14],"environment":[15],"and":[16,62,82,94,101,109,134],"internal":[17],"system.":[18],"In":[19,66],"this":[20,52,116],"consideration,":[21],"based":[22],"on":[23,97],"model":[25],"predictive":[26],"(MPC)":[28],"strategy,":[29],"a":[30,119],"perturbation-resistant":[31],"neural":[32],"dynamics":[33],"(PRND)":[34],"controller":[35,76],"equipped":[36],"with":[37,79],"noise-suppression":[39],"ability":[40],"for":[41,122,126],"path-tracking":[43],"of":[45,57,111],"autonomous":[46,127],"vehicles":[47],"is":[48],"newly":[49],"designed":[50],"in":[51],"paper,":[53],"under":[54,85],"framework":[56],"artificial":[58],"systems,":[59],"computational":[60,90],"experiments,":[61],"parallel":[63],"execution":[64],"(ACP).":[65],"addition,":[67],"theoretical":[68],"analyses":[69],"show":[70],"that":[71],"proposed":[73,113],"ACP-incorporated":[74],"PRND":[75],"can":[77],"behave":[78],"exponential":[80],"convergence":[81],"strong":[83],"robustness":[84],"different":[86],"scenarios.":[88],"Lastly,":[89],"experiments":[91],"conducted":[93],"parallelly":[95],"executed":[96],"CarSim-Simulink":[99],"platform":[100,104],"E-Car":[102],"physical":[103],"to":[105],"demonstrate":[106],"effectiveness":[108],"superiority":[110],"controller.":[114],"Overall,":[115],"paper":[117],"provides":[118],"new":[120],"perspective":[121],"designing":[123],"neural-dynamics-based":[124],"controllers":[125],"vehicles,":[128],"thereby":[129],"guaranteeing":[130],"reliable":[131],"performance":[133],"effectively":[135],"resisting":[136],"perturbations.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":28}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
