{"id":"https://openalex.org/W2120562989","doi":"https://doi.org/10.1177/0959651811414503","title":"Comparison of linear and non-linear controllers for active steering of vehicles in evasive manoeuvres","display_name":"Comparison of linear and non-linear controllers for active steering of vehicles in evasive manoeuvres","publication_year":2011,"publication_date":"2011-08-26","ids":{"openalex":"https://openalex.org/W2120562989","doi":"https://doi.org/10.1177/0959651811414503","mag":"2120562989"},"language":"en","primary_location":{"id":"doi:10.1177/0959651811414503","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651811414503","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5035570579","display_name":"Damoon Soudbakhsh","orcid":"https://orcid.org/0000-0002-9313-8804"},"institutions":[{"id":"https://openalex.org/I865166595","display_name":"George Washington University Virginia Campus","ror":"https://ror.org/03ms79854","country_code":"US","type":"education","lineage":["https://openalex.org/I865166595"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D Soudbakhsh","raw_affiliation_strings":["Center for Intelligent Systems Research, The George Washington University, Ashburn, Virginia, USA"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems Research, The George Washington University, Ashburn, Virginia, USA","institution_ids":["https://openalex.org/I865166595","https://openalex.org/I4210105785"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014199018","display_name":"Azim Eskandarian","orcid":"https://orcid.org/0000-0002-4117-7692"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]},{"id":"https://openalex.org/I865166595","display_name":"George Washington University Virginia Campus","ror":"https://ror.org/03ms79854","country_code":"US","type":"education","lineage":["https://openalex.org/I865166595"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A Eskandarian","raw_affiliation_strings":["Center for Intelligent Systems Research, The George Washington University, Ashburn, Virginia, USA"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Systems Research, The George Washington University, Ashburn, Virginia, USA","institution_ids":["https://openalex.org/I865166595","https://openalex.org/I4210105785"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035570579"],"corresponding_institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I865166595"],"apc_list":null,"apc_paid":null,"fwci":1.5056,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85138964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"226","issue":"2","first_page":"215","last_page":"232"},"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":0.9905999898910522,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8561179637908936},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.6796678304672241},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6348477602005005},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5694732069969177},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5557997226715088},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.481330007314682},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45718830823898315},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.43600964546203613},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.42084503173828125},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4194015562534332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4186648726463318},{"id":"https://openalex.org/keywords/active-suspension","display_name":"Active suspension","score":0.41171687841415405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3705260753631592},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2326790988445282},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2168186902999878},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.08841356635093689},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07270485162734985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07052385807037354}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8561179637908936},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.6796678304672241},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6348477602005005},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5694732069969177},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5557997226715088},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.481330007314682},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45718830823898315},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.43600964546203613},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.42084503173828125},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4194015562534332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4186648726463318},{"id":"https://openalex.org/C2778293426","wikidata":"https://www.wikidata.org/wiki/Q173613","display_name":"Active suspension","level":3,"score":0.41171687841415405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3705260753631592},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2326790988445282},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2168186902999878},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.08841356635093689},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07270485162734985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07052385807037354},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651811414503","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651811414503","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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":20,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W765543511","https://openalex.org/W1487127700","https://openalex.org/W1502500863","https://openalex.org/W1605873085","https://openalex.org/W1988512559","https://openalex.org/W2009293565","https://openalex.org/W2027590459","https://openalex.org/W2056072122","https://openalex.org/W2099484288","https://openalex.org/W2110904114","https://openalex.org/W2118642841","https://openalex.org/W2134668622","https://openalex.org/W2162305089","https://openalex.org/W2332486399","https://openalex.org/W2401135644","https://openalex.org/W2481081394","https://openalex.org/W2540877599","https://openalex.org/W3142707146","https://openalex.org/W4300995080"],"related_works":["https://openalex.org/W2371997840","https://openalex.org/W4385815869","https://openalex.org/W2942897022","https://openalex.org/W2783066513","https://openalex.org/W2124815150","https://openalex.org/W21763544","https://openalex.org/W2104497778","https://openalex.org/W2089542413","https://openalex.org/W3167890024","https://openalex.org/W4200459189"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"different":[3,46],"control":[4,21],"approaches":[5],"to":[6,20],"perform":[7,92],"an":[8,57],"evasive":[9],"collision":[10],"avoidance":[11],"manoeuvre":[12,149],"using":[13,31],"active":[14],"steering.":[15],"Linear":[16],"and":[17,25,44,79,114],"non-linear":[18,107],"controllers":[19,48,72,91],"the":[22,29,64,96,99,106,112,121,128,133,136],"combined":[23],"lateral":[24],"longitudinal":[26],"motion":[27],"of":[28,98,135],"vehicle":[30,84,109],"predefined":[32],"trajectories":[33],"are":[34],"compared.":[35],"A":[36],"proportional\u2013derivative":[37],"controller,":[38],"a":[39,67,76,80,140,146],"linear":[40],"quadratic":[41],"regulator":[42],"(LQR),":[43],"two":[45,122],"sliding-mode":[47],"(SMC)":[49],"were":[50,73],"developed.":[51],"The":[52,71,86],"second":[53],"SMC":[54],"model":[55,65,78],"includes":[56],"additional":[58],"velocity":[59],"error":[60,131],"term,":[61],"which":[62],"augments":[63],"with":[66],"steering":[68],"actuator":[69],"term.":[70],"implemented":[74],"on":[75,105],"bicycle":[77,100],"17":[81],"degrees-of-freedom":[82],"(DOF)":[83],"model.":[85,101],"results":[87],"showed":[88],"that":[89],"all":[90],"similarly":[93],"in":[94,103,126,145],"controlling":[95],"trajectory":[97],"However,":[102,138],"implementation":[104],"full":[108],"dynamics":[110],"model,":[111],"LQR":[113],"SMCs":[115,123],"provided":[116],"similar":[117],"position":[118],"tracking,":[119],"but":[120],"performed":[124],"better":[125],"minimizing":[127],"yaw":[129],"(directional)":[130],"at":[132,139],"end":[134],"trajectory.":[137],"higher":[141],"velocity,":[142],"SMC2":[143],"resulted":[144],"more":[147],"stable":[148],"than":[150],"SMC1.":[151]},"counts_by_year":[{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}