{"id":"https://openalex.org/W4406982841","doi":"https://doi.org/10.1109/tvt.2025.3536520","title":"A Backstepping Tracking Control Strategy Based on Deep Reinforcement Learning for Vehicle Platoon","display_name":"A Backstepping Tracking Control Strategy Based on Deep Reinforcement Learning for Vehicle Platoon","publication_year":2025,"publication_date":"2025-01-30","ids":{"openalex":"https://openalex.org/W4406982841","doi":"https://doi.org/10.1109/tvt.2025.3536520"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3536520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3536520","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/A5068656685","display_name":"Zekai Lv","orcid":"https://orcid.org/0000-0003-3538-8909"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zekai Lv","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi'an, China","School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-3538-8909","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056129285","display_name":"Jianzhong Chen","orcid":"https://orcid.org/0000-0001-8070-5382"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianzhong Chen","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi'an, China","School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0001-8070-5382","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Junhong Xie","orcid":"https://orcid.org/0009-0003-7573-3196"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhong Xie","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi'an, China","School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0009-0003-7573-3196","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102223439","display_name":"Zhihe Xu","orcid":"https://orcid.org/0009-0003-0474-6571"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihe Xu","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi'an, China","School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0009-0003-0474-6571","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":3.1115,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.90274431,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"74","issue":"6","first_page":"8707","last_page":"8720"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14011","display_name":"Elevator Systems and Control","score":0.9458000063896179,"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/T14011","display_name":"Elevator Systems and Control","score":0.9458000063896179,"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/platoon","display_name":"Platoon","score":0.887035608291626},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7889084815979004},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.691561222076416},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5878155827522278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4827350974082947},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48188644647598267},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4766733944416046},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4682164192199707},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4602434039115906},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45810791850090027},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4130849838256836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3811982274055481},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.29226166009902954},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28399139642715454},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2644655704498291},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15664851665496826},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08237966895103455}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.887035608291626},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7889084815979004},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.691561222076416},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5878155827522278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4827350974082947},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48188644647598267},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4766733944416046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4682164192199707},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4602434039115906},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45810791850090027},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4130849838256836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3811982274055481},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.29226166009902954},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28399139642715454},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2644655704498291},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15664851665496826},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08237966895103455},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3536520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3536520","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1966254600","https://openalex.org/W2053089491","https://openalex.org/W2112484799","https://openalex.org/W2137505842","https://openalex.org/W2142597925","https://openalex.org/W2338648858","https://openalex.org/W2465095627","https://openalex.org/W2511722497","https://openalex.org/W2619461541","https://openalex.org/W2744953678","https://openalex.org/W2883366396","https://openalex.org/W2887438675","https://openalex.org/W2896642734","https://openalex.org/W2925658806","https://openalex.org/W2942977382","https://openalex.org/W2945843493","https://openalex.org/W2964784128","https://openalex.org/W2972997443","https://openalex.org/W2995666333","https://openalex.org/W2997053319","https://openalex.org/W3017204849","https://openalex.org/W3017326821","https://openalex.org/W3113070793","https://openalex.org/W3114770140","https://openalex.org/W3127561923","https://openalex.org/W3199620691","https://openalex.org/W3209562871","https://openalex.org/W3210386267","https://openalex.org/W3210590548","https://openalex.org/W3216792218","https://openalex.org/W4225814850","https://openalex.org/W4226326930","https://openalex.org/W4281972499","https://openalex.org/W4293370919","https://openalex.org/W4302071225","https://openalex.org/W4304480790","https://openalex.org/W4312291153","https://openalex.org/W4312609010","https://openalex.org/W4312769831","https://openalex.org/W4318541446","https://openalex.org/W4319996371","https://openalex.org/W4365420301","https://openalex.org/W4392638773","https://openalex.org/W4394770855","https://openalex.org/W4398775098"],"related_works":["https://openalex.org/W4286572054","https://openalex.org/W2555207388","https://openalex.org/W3171462553","https://openalex.org/W2163875247","https://openalex.org/W4389544977","https://openalex.org/W4388855948","https://openalex.org/W4385236313","https://openalex.org/W3006156193","https://openalex.org/W3109067418","https://openalex.org/W2143852632"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"an":[5,72],"innovative":[6],"deep":[7],"reinforcement":[8,28],"learning":[9,29],"(DRL)-based":[10],"backstepping":[11,64,84],"tracking":[12,65,151],"control":[13,23,66,74,85,137,147],"strategy":[14,99,148],"for":[15],"vehicle":[16,114,122],"platoon.":[17,115],"Current":[18],"research":[19],"on":[20,26],"DRL-based":[21],"platoon":[22],"primarily":[24],"focuses":[25],"training":[27,47,117],"(RL)":[30],"agents":[31,57,120],"to":[32,58,76,102,135],"directly":[33],"compute":[34],"acceleration":[35],"outputs":[36],"of":[37,43,62,118],"vehicles,":[38],"which":[39],"increases":[40],"the":[41,60,140,145],"risk":[42],"collisions":[44],"during":[45],"early":[46],"phases":[48],"and":[49,79,93,106,129,139,156],"hampers":[50],"convergence.":[51,81],"The":[52,116],"proposed":[53,146],"DRL":[54,70,143],"approach":[55],"leverages":[56],"optimize":[59],"parameters":[61],"a":[63],"strategy,":[67],"effectively":[68,153],"embedding":[69],"within":[71],"established":[73],"framework":[75],"enhance":[77],"stability":[78],"accelerate":[80],"A":[82],"new":[83],"algorithm":[86],"incorporating":[87],"improved":[88],"barrier":[89],"Lyapunov":[90],"functions":[91],"(BLFs)":[92],"variable":[94],"time":[95],"headway":[96],"(VTH)":[97],"spacing":[98],"is":[100],"presented":[101],"address":[103],"state":[104],"constraints":[105],"input":[107],"saturation":[108],"while":[109],"enhancing":[110],"road":[111],"utilization":[112],"in":[113],"RL":[119],"incorporates":[121],"trajectories":[123],"from":[124],"both":[125],"natural":[126],"driving":[127],"conditions":[128],"simulated":[130],"extreme":[131],"hazardous":[132],"scenarios.":[133],"Compared":[134],"traditional":[136],"methods":[138],"state-of-the-art":[141],"(SOTA)":[142],"algorithm,":[144],"achieves":[149],"enhanced":[150],"accuracy,":[152],"suppresses":[154],"oscillations,":[155],"promotes":[157],"eco-driving.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}