{"id":"https://openalex.org/W2945494979","doi":"https://doi.org/10.1109/tvt.2019.2916982","title":"Path Following Control of Autonomous Ground Vehicle Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Control","display_name":"Path Following Control of Autonomous Ground Vehicle Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Control","publication_year":2019,"publication_date":"2019-05-15","ids":{"openalex":"https://openalex.org/W2945494979","doi":"https://doi.org/10.1109/tvt.2019.2916982","mag":"2945494979"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2019.2916982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2916982","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/A5035856842","display_name":"Yan Wu","orcid":"https://orcid.org/0000-0001-5185-9948"},"institutions":[{"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":true,"raw_author_name":"Yan Wu","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100332300","display_name":"Lifang Wang","orcid":"https://orcid.org/0000-0001-6835-8285"},"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/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifang Wang","raw_affiliation_strings":["Key Laboratory of Power Electronics and Electric Drives and the Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Power Electronics and Electric Drives and the Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210128819","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068780105","display_name":"Junzhi Zhang","orcid":"https://orcid.org/0000-0002-5055-2941"},"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":"Junzhi Zhang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Department of Automotive Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Department of Automotive Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101468211","display_name":"Fang Li","orcid":"https://orcid.org/0000-0003-2371-3321"},"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/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Li","raw_affiliation_strings":["Key Laboratory of Power Electronics and Electric Drives and the Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Power Electronics and Electric Drives and the Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210128819","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035856842"],"corresponding_institution_ids":["https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":11.2229,"has_fulltext":false,"cited_by_count":233,"citation_normalized_percentile":{"value":0.98694885,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"68","issue":"7","first_page":"6379","last_page":"6390"},"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":0.9940000176429749,"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/T10524","display_name":"Traffic control and management","score":0.9891999959945679,"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":0.8823680877685547},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7217533588409424},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.5664452910423279},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.5653814673423767},{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.531732976436615},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5071649551391602},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5022964477539062},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49018508195877075},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4100651443004608},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.39968281984329224},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3625023066997528},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3500526547431946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34141629934310913},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10175085067749023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07828152179718018}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8823680877685547},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7217533588409424},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.5664452910423279},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.5653814673423767},{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.531732976436615},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5071649551391602},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5022964477539062},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49018508195877075},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4100651443004608},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.39968281984329224},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3625023066997528},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3500526547431946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34141629934310913},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10175085067749023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07828152179718018},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2019.2916982","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2916982","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.75}],"awards":[{"id":"https://openalex.org/G4901543859","display_name":null,"funder_award_id":"2016YFB0101002","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"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":56,"referenced_works":["https://openalex.org/W102190310","https://openalex.org/W168785721","https://openalex.org/W1504992226","https://openalex.org/W1656390188","https://openalex.org/W1888209602","https://openalex.org/W1971981018","https://openalex.org/W1972170285","https://openalex.org/W1997237786","https://openalex.org/W1997595810","https://openalex.org/W2002239690","https://openalex.org/W2028044548","https://openalex.org/W2028583686","https://openalex.org/W2037871255","https://openalex.org/W2043709900","https://openalex.org/W2055207897","https://openalex.org/W2064921653","https://openalex.org/W2071849926","https://openalex.org/W2076404271","https://openalex.org/W2088479811","https://openalex.org/W2106818252","https://openalex.org/W2110177808","https://openalex.org/W2112930335","https://openalex.org/W2120562989","https://openalex.org/W2129275525","https://openalex.org/W2132258031","https://openalex.org/W2137983719","https://openalex.org/W2142110054","https://openalex.org/W2150495433","https://openalex.org/W2158121031","https://openalex.org/W2159678986","https://openalex.org/W2212889974","https://openalex.org/W2272053124","https://openalex.org/W2279090918","https://openalex.org/W2317934000","https://openalex.org/W2335439433","https://openalex.org/W2341848647","https://openalex.org/W2342837652","https://openalex.org/W2343568200","https://openalex.org/W2363637015","https://openalex.org/W2378174767","https://openalex.org/W2399732523","https://openalex.org/W2462000563","https://openalex.org/W2477231637","https://openalex.org/W2505763307","https://openalex.org/W2551773494","https://openalex.org/W2605642216","https://openalex.org/W2617815247","https://openalex.org/W2620197950","https://openalex.org/W2795399141","https://openalex.org/W2906863896","https://openalex.org/W4237293005","https://openalex.org/W6680176127","https://openalex.org/W6688540088","https://openalex.org/W6709054467","https://openalex.org/W6819050291","https://openalex.org/W6959809473"],"related_works":["https://openalex.org/W2967933754","https://openalex.org/W4391217548","https://openalex.org/W2621132146","https://openalex.org/W2241127710","https://openalex.org/W2185409886","https://openalex.org/W2076935651","https://openalex.org/W2337289474","https://openalex.org/W1996466923","https://openalex.org/W1627542791","https://openalex.org/W2772596473"],"abstract_inverted_index":{"Due":[0],"to":[1,16,35,74,97,124,143,168,184],"the":[2,23,30,67,91,100,105,116,120,128,136,148,150,160,169,172,177,195,204,210,213,221,224],"strong":[3,37,228],"nonlinearity,":[4],"coupling":[5],"characteristics,":[6],"external":[7,133],"disturbance,":[8],"and":[9,58,126,131,162,217,226],"complex":[10,68],"driving":[11,192],"conditions,":[12],"it":[13],"is":[14,50,64,72,113,156],"difficult":[15],"establish":[17],"an":[18,110],"accurate":[19],"mathematical":[20],"model":[21,183],"for":[22,115],"autonomous":[24],"ground":[25],"vehicle":[26,181,225],"(AGV).":[27],"This":[28],"requires":[29],"AGV":[31,44,95,211],"path":[32,45,69,215],"following":[33,46,70],"controller":[34,112,174],"have":[36],"robustness.":[38,229],"In":[39,141,166],"this":[40],"paper,":[41],"a":[42,75,83,189],"robust":[43],"control":[47,62,154,206],"strategy":[48,207],"that":[49,88,90,203],"based":[51],"on":[52],"nonsingular":[53],"terminal":[54],"sliding":[55],"mode":[56],"(NTSM)":[57],"active":[59],"disturbance":[60],"rejection":[61],"(ADRC)":[63],"presented.":[65],"First,":[66],"problem":[71,80],"simplified":[73],"simple":[76,178],"yaw":[77,85,102,107],"angle":[78,86,103],"tracking":[79],"by":[81,158],"constructing":[82],"desired":[84,106],"function":[87],"satisfies":[89],"displacement":[92],"deviation":[93],"of":[94,135,147,191,199,223],"converges":[96],"zero":[98],"when":[99],"actual":[101],"approaches":[104],"angle.":[108],"Second,":[109],"NTSM-ADRC":[111],"designed":[114,157],"system,":[117],"which":[118],"uses":[119],"extended":[121],"state":[122],"observer":[123],"estimate":[125],"compensate":[127],"unmodeled":[129],"dynamics":[130],"unknown":[132],"perturbations":[134],"system":[137],"in":[138,188],"real":[139],"time.":[140],"order":[142],"improve":[144],"response":[145],"characteristics":[146],"controller,":[149],"nonlinear":[151],"error":[152],"feedback":[153],"law":[155],"combining":[159],"NTSM":[161],"exponential":[163],"approximation":[164],"law.":[165],"contrast":[167],"existing":[170],"work,":[171],"improved":[173],"can":[175,208],"use":[176],"two-degree-of-freedom":[179],"linear":[180],"dynamic":[182],"provide":[185],"good":[186],"performance":[187],"range":[190],"conditions.":[193],"Finally,":[194],"CarSim-Simulink":[196],"simulation":[197],"results":[198],"typical":[200],"conditions":[201],"show":[202],"proposed":[205],"make":[209],"follow":[212],"reference":[214],"quickly":[216],"accurately":[218],"while":[219],"ensuring":[220],"stability":[222],"has":[227]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":49},{"year":2024,"cited_by_count":43},{"year":2023,"cited_by_count":45},{"year":2022,"cited_by_count":38},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":3}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
