{"id":"https://openalex.org/W2800937130","doi":"https://doi.org/10.1109/tvt.2018.2834381","title":"Interactive Control Paradigm-Based Robust Lateral Stability Controller Design for Autonomous Automobile Path Tracking With Uncertain Disturbance: A Dynamic Game Approach","display_name":"Interactive Control Paradigm-Based Robust Lateral Stability Controller Design for Autonomous Automobile Path Tracking With Uncertain Disturbance: A Dynamic Game Approach","publication_year":2018,"publication_date":"2018-05-08","ids":{"openalex":"https://openalex.org/W2800937130","doi":"https://doi.org/10.1109/tvt.2018.2834381","mag":"2800937130"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2018.2834381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2018.2834381","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5024351828","display_name":"Xuewu Ji","orcid":"https://orcid.org/0000-0002-5242-8119"},"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":"Xuewu Ji","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103277426","display_name":"Yulong Liu","orcid":"https://orcid.org/0000-0001-6879-2153"},"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":"Yulong Liu","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6879-2153","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061259393","display_name":"Xiangkun He","orcid":"https://orcid.org/0000-0001-9818-0879"},"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":"Xiangkun He","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101781937","display_name":"Kaiming Yang","orcid":"https://orcid.org/0000-0002-3745-4319"},"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":"Kaiming Yang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3745-4319","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004861155","display_name":"Xiaoxiang Na","orcid":"https://orcid.org/0000-0002-6524-7122"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xiaoxiang Na","raw_affiliation_strings":["Department of Engineering, University of Cambridge, Cambridge, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6524-7122","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072073374","display_name":"Chen Lv","orcid":"https://orcid.org/0000-0001-6897-4512"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen Lv","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering and the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering and the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100375489","display_name":"Yahui Liu","orcid":"https://orcid.org/0000-0001-7787-584X"},"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":"Yahui Liu","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7787-584X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6251,"has_fulltext":false,"cited_by_count":100,"citation_normalized_percentile":{"value":0.96043875,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"67","issue":"8","first_page":"6906","last_page":"6920"},"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/T10524","display_name":"Traffic control and management","score":0.9944999814033508,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9901999831199646,"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":0.7813961505889893},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7157328128814697},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5666333436965942},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5572503209114075},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5186190009117126},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5084725618362427},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5041552782058716},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46887922286987305},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4536154270172119},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4202914535999298},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39015042781829834},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3785957396030426},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.263099730014801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10850197076797485}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7813961505889893},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7157328128814697},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5666333436965942},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5572503209114075},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5186190009117126},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5084725618362427},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5041552782058716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46887922286987305},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4536154270172119},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4202914535999298},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39015042781829834},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3785957396030426},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.263099730014801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10850197076797485},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2018.2834381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2018.2834381","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:generic.eprints.org:1148996","is_oa":false,"landing_page_url":"http://publications.eng.cam.ac.uk/1148996/","pdf_url":null,"source":{"id":"https://openalex.org/S4406922847","display_name":"Cambridge University Engineering Department Publications Database","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4300000071525574}],"awards":[{"id":"https://openalex.org/G8984987525","display_name":null,"funder_award_id":"51375009","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":49,"referenced_works":["https://openalex.org/W1489014055","https://openalex.org/W1503438515","https://openalex.org/W1579118835","https://openalex.org/W1600724409","https://openalex.org/W1656390188","https://openalex.org/W1968199746","https://openalex.org/W1973340239","https://openalex.org/W1975041827","https://openalex.org/W1987640506","https://openalex.org/W2017664792","https://openalex.org/W2026052947","https://openalex.org/W2039595238","https://openalex.org/W2042024944","https://openalex.org/W2043089693","https://openalex.org/W2052066290","https://openalex.org/W2072946338","https://openalex.org/W2087789797","https://openalex.org/W2093859650","https://openalex.org/W2110852918","https://openalex.org/W2120121765","https://openalex.org/W2120904460","https://openalex.org/W2149686194","https://openalex.org/W2165430451","https://openalex.org/W2289016861","https://openalex.org/W2296654190","https://openalex.org/W2341848647","https://openalex.org/W2346511985","https://openalex.org/W2346595613","https://openalex.org/W2503023465","https://openalex.org/W2521921275","https://openalex.org/W2538394767","https://openalex.org/W2552434828","https://openalex.org/W2589965074","https://openalex.org/W2611441911","https://openalex.org/W2616258440","https://openalex.org/W2732799038","https://openalex.org/W2753743009","https://openalex.org/W2761436338","https://openalex.org/W2762260119","https://openalex.org/W2766974502","https://openalex.org/W2768140565","https://openalex.org/W2772315375","https://openalex.org/W2780393442","https://openalex.org/W2789272081","https://openalex.org/W2963473876","https://openalex.org/W4252925118","https://openalex.org/W4302033101","https://openalex.org/W6635988430","https://openalex.org/W6740968009"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2145006118"],"abstract_inverted_index":{"Stability":[0],"as":[1,3,41,51],"well":[2],"robustness":[4],"is":[5,34,133],"the":[6,10,62,115,123,137,164,175],"major":[7],"concerns":[8],"in":[9],"design":[11,29],"of":[12,125],"a":[13,24,42,52,129],"trajectory":[14],"tracking":[15,33,84],"controller":[16,28,183],"for":[17,30,81,108],"an":[18],"autonomous":[19],"vehicle.":[20],"In":[21],"this":[22],"paper,":[23],"novel":[25],"lateral":[26,46,144,158,188,192],"stability":[27,47,80,189],"vehicle":[31,45,82,109],"path":[32,83,110],"developed.":[35],"First,":[36],"using":[37],"dynamic":[38,53],"game":[39,55,102,127],"theory":[40,103],"general":[43],"framework,":[44],"can":[48,74,184],"be":[49],"viewed":[50],"difference":[54],"so":[56],"that":[57,174],"its":[58],"two":[59],"players,":[60],"namely,":[61],"active":[63,69],"front":[64],"steering":[65,71,88],"(AFS)":[66],"system":[67,73],"and":[68,93,149,154,169],"rear":[70],"(ARS)":[72],"work":[75],"together":[76],"to":[77,104,135,142,162],"provide":[78,186],"more":[79,140],"control.":[85],"The":[86],"interactive":[87],"control":[89,119,166,178],"strategies":[90],"between":[91],"AFS":[92],"ARS":[94],"are":[95,160,194],"obtained":[96],"by":[97,121],"noncooperative":[98],"closed-loop":[99],"feedback":[100],"Stackelberg":[101],"ensure":[105],"optimal":[106],"performance":[107],"tracking.":[111],"Then,":[112],"based":[113,180],"on":[114],"proposed":[116,165,176],"path-following":[117],"shared":[118,177],"paradigm,":[120],"applying":[122],"method":[124],"zero-sum":[126],"theory,":[128],"finite-time":[130],"robust":[131,141,181],"regulator":[132],"developed":[134],"make":[136],"interaction":[138],"model":[139],"uncertain":[143,156],"disturbances.":[145],"Finally,":[146],"double-lane":[147],"change":[148],"serpentine":[150],"driving":[151],"condition":[152],"with":[153],"without":[155],"time-varying":[157,191],"disturbance":[159],"used":[161],"evaluate":[163],"algorithm.":[167],"Simulation":[168],"hardware-in-loop":[170],"implementation":[171],"results":[172],"show":[173],"paradigm":[179],"path-tracking":[182],"robustly":[185],"better":[187],"when":[190],"disturbances":[193],"bounded.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
