{"id":"https://openalex.org/W2926065969","doi":"https://doi.org/10.1109/tvt.2019.2907696","title":"MME-EKF-Based Path-Tracking Control of Autonomous Vehicles Considering Input Saturation","display_name":"MME-EKF-Based Path-Tracking Control of Autonomous Vehicles Considering Input Saturation","publication_year":2019,"publication_date":"2019-03-27","ids":{"openalex":"https://openalex.org/W2926065969","doi":"https://doi.org/10.1109/tvt.2019.2907696","mag":"2926065969"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2019.2907696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2907696","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":true,"oa_status":"green","oa_url":"http://nrl.northumbria.ac.uk/id/eprint/42767/1/08675462.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100609886","display_name":"Chuan Hu","orcid":"https://orcid.org/0000-0001-5379-1561"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuan Hu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-5379-1561","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100717837","display_name":"Zhenfeng Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094894","display_name":"China Automotive Technology and Research Center","ror":"https://ror.org/00r5r6807","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210094894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenfeng Wang","raw_affiliation_strings":["Automotive Engineering Research Institute, China Automotive Technology and Research Center Co., Ltd., Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-1584-1908","affiliations":[{"raw_affiliation_string":"Automotive Engineering Research Institute, China Automotive Technology and Research Center Co., Ltd., Tianjin, China","institution_ids":["https://openalex.org/I4210094894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072145212","display_name":"Hamid Taghavifar","orcid":"https://orcid.org/0000-0002-2407-8393"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hamid Taghavifar","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-2407-8393","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008377523","display_name":"Jing Na","orcid":"https://orcid.org/0000-0002-3067-1580"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Na","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China"],"raw_orcid":"https://orcid.org/0000-0002-3067-1580","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045565571","display_name":"Yechen Qin","orcid":"https://orcid.org/0000-0003-1928-0113"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yechen Qin","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1928-0113","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003318831","display_name":"Jinghua Guo","orcid":"https://orcid.org/0000-0001-9123-6817"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinghua Guo","raw_affiliation_strings":["Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, China"],"raw_orcid":"https://orcid.org/0000-0001-9123-6817","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Engineering, Xiamen University, Xiamen, China","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054213642","display_name":"Chongfeng Wei","orcid":"https://orcid.org/0000-0002-4565-509X"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chongfeng Wei","raw_affiliation_strings":["Institute of Transport Studies, University of Leeds, Leeds, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Transport Studies, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.8629,"has_fulltext":true,"cited_by_count":190,"citation_normalized_percentile":{"value":0.9885251,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"68","issue":"6","first_page":"5246","last_page":"5259"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9983000159263611,"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":0.9983000159263611,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9887999892234802,"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":0.5659852623939514},{"id":"https://openalex.org/keywords/saturation","display_name":"Saturation (graph theory)","score":0.4921347498893738},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4873245656490326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4550101161003113},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4530564844608307},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43919551372528076},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4248008728027344},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37055253982543945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35570386052131653},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.2383711040019989},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16319549083709717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14188528060913086},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10194602608680725}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5659852623939514},{"id":"https://openalex.org/C9930424","wikidata":"https://www.wikidata.org/wiki/Q7426587","display_name":"Saturation (graph theory)","level":2,"score":0.4921347498893738},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4873245656490326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4550101161003113},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4530564844608307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43919551372528076},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4248008728027344},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37055253982543945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35570386052131653},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2383711040019989},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16319549083709717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14188528060913086},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10194602608680725},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2019.2907696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2907696","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:nrl.northumbria.ac.uk:42767","is_oa":true,"landing_page_url":null,"pdf_url":"http://nrl.northumbria.ac.uk/id/eprint/42767/1/08675462.pdf","source":{"id":"https://openalex.org/S4306401884","display_name":"Northumbria Research Link (Northumbria University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32394136","host_organization_name":"Northumbria University","host_organization_lineage":["https://openalex.org/I32394136"],"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":"pmh:oai:nrl.northumbria.ac.uk:42767","is_oa":true,"landing_page_url":null,"pdf_url":"http://nrl.northumbria.ac.uk/id/eprint/42767/1/08675462.pdf","source":{"id":"https://openalex.org/S4306401884","display_name":"Northumbria Research Link (Northumbria University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32394136","host_organization_name":"Northumbria University","host_organization_lineage":["https://openalex.org/I32394136"],"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"},"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G395930275","display_name":"\u8f6e\u6bc2\u7535\u673a\u9a71\u52a8\u8f66\u8f86\u591a\u6e90\u6fc0\u52b1\u8026\u5408\u673a\u5236\u4e0e\u5782\u5411-\u7eb5\u5411\u52a8\u529b\u5b66\u4f18\u5316\u63a7\u5236\u7814\u7a76","funder_award_id":"51805028","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G532751234","display_name":null,"funder_award_id":"BX201600017","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6934587745","display_name":null,"funder_award_id":"2016M600934","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2926065969.pdf"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W592312525","https://openalex.org/W1223467140","https://openalex.org/W1999175821","https://openalex.org/W2007901423","https://openalex.org/W2010699465","https://openalex.org/W2014148759","https://openalex.org/W2018461753","https://openalex.org/W2028583686","https://openalex.org/W2052369206","https://openalex.org/W2098337868","https://openalex.org/W2101044232","https://openalex.org/W2110497559","https://openalex.org/W2113454792","https://openalex.org/W2157577161","https://openalex.org/W2157611389","https://openalex.org/W2168730841","https://openalex.org/W2174765655","https://openalex.org/W2293058369","https://openalex.org/W2321419480","https://openalex.org/W2426532714","https://openalex.org/W2427758700","https://openalex.org/W2433234897","https://openalex.org/W2520678225","https://openalex.org/W2536345096","https://openalex.org/W2580234402","https://openalex.org/W2621979669","https://openalex.org/W2750254771","https://openalex.org/W2752879615","https://openalex.org/W2757619290","https://openalex.org/W2762441957","https://openalex.org/W2766407737","https://openalex.org/W2767563563","https://openalex.org/W2772194428","https://openalex.org/W2782608458","https://openalex.org/W2786046247","https://openalex.org/W2883970576","https://openalex.org/W2884531369","https://openalex.org/W2886619716","https://openalex.org/W2890681882","https://openalex.org/W2892272379","https://openalex.org/W2914354064","https://openalex.org/W3104471247"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2320550378","https://openalex.org/W4372347353","https://openalex.org/W2020144404","https://openalex.org/W2149615975","https://openalex.org/W2229640938","https://openalex.org/W3200213266","https://openalex.org/W2367981988"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,12,19,29,34,41,46,52,64,67,84,88,92,95,100,114,130,139,143,147,160,165,170,174,187,190,199],"path-tracking":[4,24,53],"control":[5,16,25,192],"issue":[6],"for":[7,51,87,138],"autonomous":[8],"ground":[9],"vehicles":[10],"with":[11,63,183,198,202],"integral":[13],"sliding":[14],"mode":[15],"(ISMC)":[17],"considering":[18,129,169],"transient":[20,166],"performance":[21,168],"improvement.":[22],"The":[23,55,178],"is":[26,37,49,110,134,156,181,194],"converted":[27],"into":[28],"yaw":[30,68,161],"stabilization":[31,162],"problem,":[32],"where":[33],"sideslip-angle":[35],"compensation":[36],"adopted":[38],"to":[39,82,136,158],"reduce":[40],"steady-state":[42],"errors,":[43],"and":[44,58,70,102,149,163],"then":[45],"yaw-rate":[47],"reference":[48],"generated":[50],"purpose.":[54],"lateral":[56,101],"velocity":[57],"roll":[59,71,103],"angle":[60],"are":[61],"estimated":[62],"measurement":[65],"of":[66,94,173,189],"rate":[69],"rate.":[72],"Three":[73],"contributions":[74],"have":[75],"been":[76],"made":[77],"in":[78,91],"this":[79],"paper:":[80],"first,":[81],"enhance":[83,164],"estimation":[85],"accuracy":[86],"vehicle":[89],"states":[90],"presence":[93],"parametric":[96],"uncertainties":[97,140],"caused":[98,141],"by":[99,142,196],"dynamics,":[104],"a":[105],"robust":[106],"extended":[107],"Kalman":[108],"filter":[109],"proposed":[111],"based":[112,154],"on":[113],"minimum":[115],"model":[116],"error":[117,132],"algorithm;":[118],"second,":[119],"an":[120],"improved":[121],"adaptive":[122],"radial":[123],"basis":[124],"function":[125],"neural":[126],"network":[127],"(RBFNN)":[128],"approximation":[131],"adaptation":[133],"developed":[135,157,191],"compensate":[137],"vertical":[144],"motion;":[145],"third,":[146],"RBFNN":[148],"composite":[150],"nonlinear":[151],"feedback":[152],"(CNF)":[153],"ISMC":[155],"achieve":[159],"tracking":[167],"input":[171],"saturation":[172],"front":[175],"steering":[176],"angle.":[177],"overall":[179],"stability":[180],"proved":[182],"Lyapunov":[184],"function.":[185],"Finally,":[186],"superiority":[188],"strategy":[193],"verified":[195],"comparing":[197],"traditional":[200],"CNF":[201],"high-fidelity":[203],"CarSim-MATLAB":[204],"simulations.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":30},{"year":2023,"cited_by_count":35},{"year":2022,"cited_by_count":27},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":33},{"year":2019,"cited_by_count":12}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
