{"id":"https://openalex.org/W3045944661","doi":"https://doi.org/10.1631/fitee.1900185","title":"A double-layered nonlinear model predictive control based control algorithm for local trajectory planning for automated trucks under uncertain road adhesion coefficient conditions","display_name":"A double-layered nonlinear model predictive control based control algorithm for local trajectory planning for automated trucks under uncertain road adhesion coefficient conditions","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045944661","doi":"https://doi.org/10.1631/fitee.1900185","mag":"3045944661"},"language":"en","primary_location":{"id":"doi:10.1631/fitee.1900185","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1900185","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology & Electronic 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":null,"display_name":"Hong-chao Wang","orcid":"https://orcid.org/0000-0002-9190-179X"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong-chao Wang","raw_affiliation_strings":["College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China"],"raw_orcid":"https://orcid.org/0000-0002-9190-179X","affiliations":[{"raw_affiliation_string":"College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654553","display_name":"WeiWei Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei-wei Zhang","raw_affiliation_strings":["College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China"],"raw_orcid":"https://orcid.org/0000-0002-9768-2620","affiliations":[{"raw_affiliation_string":"College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034728289","display_name":"Xuncheng Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xun-cheng Wu","raw_affiliation_strings":["College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038338684","display_name":"Haotian Cao","orcid":"https://orcid.org/0000-0001-5905-4116"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao-tian Cao","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, 410082, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, 410082, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006809740","display_name":"Qiaoming Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I18570673","display_name":"Guangxi University of Science and Technology","ror":"https://ror.org/02fj6b627","country_code":"CN","type":"education","lineage":["https://openalex.org/I18570673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiao-ming Gao","raw_affiliation_strings":["College of Automobile and Transportation, Guangxi University of Science and Technology, Liuzhou, 545006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automobile and Transportation, Guangxi University of Science and Technology, Liuzhou, 545006, China","institution_ids":["https://openalex.org/I18570673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067098597","display_name":"Suyun Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Su-yun Luo","raw_affiliation_strings":["College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China","institution_ids":["https://openalex.org/I141962983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100654553"],"corresponding_institution_ids":["https://openalex.org/I141962983"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":0.385,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.58947865,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":"7","first_page":"1059","last_page":"1073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9945999979972839,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9871000051498413,"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":0.8144553899765015},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7719115018844604},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5322812795639038},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.5164775848388672},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5037707686424255},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5030085444450378},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.500363826751709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4694879651069641},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.4489530622959137},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4456701874732971},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3949896991252899},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3358503580093384},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.19452330470085144},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13499924540519714},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.1093648374080658}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8144553899765015},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7719115018844604},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5322812795639038},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.5164775848388672},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5037707686424255},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5030085444450378},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.500363826751709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4694879651069641},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.4489530622959137},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4456701874732971},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3949896991252899},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3358503580093384},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.19452330470085144},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13499924540519714},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.1093648374080658},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1631/fitee.1900185","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.1900185","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology & Electronic Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1971984830","https://openalex.org/W1976467619","https://openalex.org/W1985574396","https://openalex.org/W2022845410","https://openalex.org/W2032325911","https://openalex.org/W2039539088","https://openalex.org/W2053407718","https://openalex.org/W2058289215","https://openalex.org/W2072908839","https://openalex.org/W2082142320","https://openalex.org/W2090232563","https://openalex.org/W2092767076","https://openalex.org/W2099899894","https://openalex.org/W2110801681","https://openalex.org/W2125409550","https://openalex.org/W2139430868","https://openalex.org/W2151977651","https://openalex.org/W2166446174","https://openalex.org/W2167535376","https://openalex.org/W2192586580","https://openalex.org/W2465863299","https://openalex.org/W2514264612","https://openalex.org/W2579576087","https://openalex.org/W2736502650","https://openalex.org/W2781284231","https://openalex.org/W2792520508","https://openalex.org/W2793611744","https://openalex.org/W2810601537","https://openalex.org/W2960610585","https://openalex.org/W3102923851"],"related_works":["https://openalex.org/W2005824415","https://openalex.org/W2372999110","https://openalex.org/W3136493222","https://openalex.org/W2054858771","https://openalex.org/W65309699","https://openalex.org/W2997803326","https://openalex.org/W3176430321","https://openalex.org/W2394269979","https://openalex.org/W2019286687","https://openalex.org/W2021013972"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,29,39,53,71,85,100,124,156],"double-layered":[3],"control":[4,25,35,87,182],"algorithm":[5,26],"to":[6,51,63,74,159],"plan":[7,52],"the":[8,23,58,65,76,90,112,116,129,133,145,150,161,164,179],"local":[9],"trajectory":[10,103],"for":[11],"automated":[12],"trucks":[13],"equipped":[14],"with":[15,104,178],"four":[16],"hub":[17],"motors.":[18],"The":[19,46],"main":[20,30],"layer":[21,31,41],"of":[22,28,68,94,132,149],"proposed":[24,113],"consists":[27],"nonlinear":[32,42],"model":[33,158],"predictive":[34],"(MLN-MPC)":[36],"controller":[37,48,60],"and":[38,57,98,115,147],"secondary":[40],"MPC":[43],"(SLN-MPC)":[44],"controller.":[45],"MLN-MPC":[47],"is":[49,61,84,173],"applied":[50],"dynamically":[54,101],"feasible":[55,102],"trajectory,":[56],"SLN-MPC":[59],"designed":[62],"limit":[64],"longitudinal":[66,117],"slip":[67,119],"wheels":[69],"within":[70,123],"stable":[72,125],"zone":[73,126],"avoid":[75],"tire":[77],"excessively":[78],"slipping":[79],"during":[80],"traction.":[81],"Overall,":[82],"this":[83],"closed-loop":[86],"system.":[88],"Under":[89],"off-line":[91],"co-simulation":[92],"environments":[93],"AMESim,":[95],"Simulink,":[96],"dSPACE,":[97],"TruckSim,":[99],"collision":[105],"avoidance":[106],"operation":[107],"can":[108,120,135],"be":[109,121,136],"generated":[110],"using":[111],"method,":[114],"wheel":[118],"constrained":[122],"so":[127],"that":[128,171],"driving":[130],"safety":[131],"truck":[134],"ensured":[137],"under":[138],"uncertain":[139],"road":[140],"surface":[141],"conditions.":[142],"In":[143],"addition,":[144],"stability":[146],"robustness":[148],"method":[151],"are":[152],"verified":[153],"by":[154],"adding":[155],"driver":[157],"evaluate":[160],"application":[162],"in":[163],"real":[165],"world.":[166],"Furthermore,":[167],"simulation":[168],"results":[169],"show":[170],"there":[172],"lower":[174],"computational":[175],"cost":[176],"compared":[177],"conventional":[180],"PID-based":[181],"method.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}