{"id":"https://openalex.org/W4316511214","doi":"https://doi.org/10.1155/2023/8720849","title":"A New Self-Tuning Nonlinear Model Predictive Controller for Autonomous Vehicles","display_name":"A New Self-Tuning Nonlinear Model Predictive Controller for Autonomous Vehicles","publication_year":2023,"publication_date":"2023-01-16","ids":{"openalex":"https://openalex.org/W4316511214","doi":"https://doi.org/10.1155/2023/8720849"},"language":"en","primary_location":{"id":"doi:10.1155/2023/8720849","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/8720849","pdf_url":"https://downloads.hindawi.com/journals/complexity/2023/8720849.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/complexity/2023/8720849.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091166652","display_name":"Yasin Abdolahi","orcid":"https://orcid.org/0000-0003-0223-9093"},"institutions":[{"id":"https://openalex.org/I4210116604","display_name":"Ilam University","ror":"https://ror.org/01r277z15","country_code":"IR","type":"education","lineage":["https://openalex.org/I4210116604"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Yasin Abdolahi","raw_affiliation_strings":["Department of Electrical Engineering, Ilam University, Ilam, Iran"],"raw_orcid":"https://orcid.org/0000-0003-0223-9093","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Ilam University, Ilam, Iran","institution_ids":["https://openalex.org/I4210116604"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070080141","display_name":"Sajad Yousefi","orcid":"https://orcid.org/0000-0002-2910-3869"},"institutions":[{"id":"https://openalex.org/I4210089766","display_name":"Technical and Vocational University","ror":"https://ror.org/00854zy02","country_code":"IR","type":"education","lineage":["https://openalex.org/I4210089766"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Sajad Yousefi","raw_affiliation_strings":["Department of Electrical Engineering, Technical and Vocational University (TVU), Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-2910-3869","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Technical and Vocational University (TVU), Tehran, Iran","institution_ids":["https://openalex.org/I4210089766"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039433034","display_name":"Jafar Tavoosi","orcid":"https://orcid.org/0000-0003-1209-1811"},"institutions":[{"id":"https://openalex.org/I4210116604","display_name":"Ilam University","ror":"https://ror.org/01r277z15","country_code":"IR","type":"education","lineage":["https://openalex.org/I4210116604"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Jafar Tavoosi","raw_affiliation_strings":["Department of Electrical Engineering, Ilam University, Ilam, Iran"],"raw_orcid":"https://orcid.org/0000-0003-1209-1811","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Ilam University, Ilam, Iran","institution_ids":["https://openalex.org/I4210116604"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039433034"],"corresponding_institution_ids":["https://openalex.org/I4210116604"],"apc_list":{"value":2300,"currency":"USD","value_usd":2300},"apc_paid":{"value":2300,"currency":"USD","value_usd":2300},"fwci":1.1943,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.76967608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"2023","issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9940000176429749,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.790546715259552},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.7846231460571289},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7149560451507568},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7089075446128845},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6794577240943909},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6486693620681763},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5858889818191528},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5264259576797485},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4105423390865326},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.324982225894928},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17761477828025818},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1509724259376526},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1486833095550537}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.790546715259552},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.7846231460571289},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7149560451507568},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7089075446128845},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6794577240943909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6486693620681763},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5858889818191528},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5264259576797485},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4105423390865326},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.324982225894928},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17761477828025818},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1509724259376526},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1486833095550537},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1155/2023/8720849","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/8720849","pdf_url":"https://downloads.hindawi.com/journals/complexity/2023/8720849.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:8720849","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/complexity/2023/8720849.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:182aab05652e4550a575bfd74fe16ae6","is_oa":true,"landing_page_url":"https://doaj.org/article/182aab05652e4550a575bfd74fe16ae6","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2023 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2023/8720849","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/8720849","pdf_url":"https://downloads.hindawi.com/journals/complexity/2023/8720849.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4316511214.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1592601589","https://openalex.org/W1972512531","https://openalex.org/W2015368907","https://openalex.org/W2098510938","https://openalex.org/W2108772181","https://openalex.org/W2149201603","https://openalex.org/W2152195021","https://openalex.org/W2341848647","https://openalex.org/W2465192128","https://openalex.org/W2522475299","https://openalex.org/W2768205026","https://openalex.org/W2793754340","https://openalex.org/W2888069591","https://openalex.org/W2921285903","https://openalex.org/W2922501931","https://openalex.org/W2954115742","https://openalex.org/W2983542733","https://openalex.org/W2996489693","https://openalex.org/W3034044856","https://openalex.org/W3049161774","https://openalex.org/W3082179968","https://openalex.org/W3086520783","https://openalex.org/W3111690302","https://openalex.org/W3158413423","https://openalex.org/W3159112629","https://openalex.org/W3184240678","https://openalex.org/W3214234367","https://openalex.org/W4237038129","https://openalex.org/W6760325094"],"related_works":["https://openalex.org/W2751927776","https://openalex.org/W2565439317","https://openalex.org/W2529028968","https://openalex.org/W1971360108","https://openalex.org/W4285277487","https://openalex.org/W2348976153","https://openalex.org/W1967393602","https://openalex.org/W2171204799","https://openalex.org/W2393426215","https://openalex.org/W2200373535"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"has":[2,167],"recently":[3],"been":[4,12],"in":[5,138],"considerable":[6],"progress,":[7],"and":[8,36,48,97,104,127,141,147,173],"many":[9],"algorithms":[10],"have":[11],"suggested":[13],"to":[14,85,108],"control":[15],"the":[16,29,34,39,52,58,70,79,87,94,100,109,139,159],"motions":[17],"of":[18,28,38,42,55,63,73,111,119,170],"driverless":[19],"cars.":[20],"The":[21,130,154],"model":[22,124],"predictive":[23,125],"controller":[24,66],"(MPC)":[25],"is":[26,54,133,150,176],"one":[27],"efficient":[30],"approaches":[31],"by":[32,92],"which":[33],"speed":[35],"direction":[37],"near":[40],"future":[41],"an":[43,112,168],"automobile":[44],"could":[45],"be":[46],"predicted":[47],"controlled.":[49],"Even":[50],"though":[51],"MPC":[53],"enormous":[56],"benefit,":[57],"performance":[59],"(minimum":[60],"tracking":[61,90],"error)":[62],"such":[64],"a":[65],"strictly":[67],"depends":[68],"on":[69],"appropriate":[71],"tuning":[72,93],"its":[74,174],"parameters.":[75],"This":[76,116],"paper":[77],"applies":[78],"particle":[80],"swarm":[81],"optimization":[82,128],"(PSO)":[83],"algorithm":[84],"find":[86],"global":[88],"minimum":[89],"error":[91],"controller\u2019s":[95],"parameters":[96,166],"ultimately":[98],"calculating":[99],"front":[101],"steering":[102],"angle":[103],"directed":[105],"motor":[106],"force":[107],"wheels":[110],"autonomous":[113],"vehicle":[114,121],"(AV).":[115],"article":[117],"consists":[118],"acquiring":[120],"dynamics,":[122],"extended":[123],"control,":[126],"paradigm.":[129],"proposed":[131,160],"approach":[132],"compared":[134],"with":[135,162],"previous":[136],"research":[137],"literature":[140],"simulation":[142,155],"results":[143,156],"show":[144,157],"higher":[145],"performance,":[146],"also":[148],"it":[149],"less":[151],"computationally":[152],"expensive.":[153],"that":[158],"method":[161],"only":[163],"three":[164],"adjustable":[165],"overshoot":[169],"about":[171],"8%":[172],"RMSE":[175],"0.72.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}
