{"id":"https://openalex.org/W3045694297","doi":"https://doi.org/10.23919/acc45564.2020.9147713","title":"Adaptive Nonlinear Model Predictive Control for Collision Imminent Steering with Uncertain Coefficient of Friction","display_name":"Adaptive Nonlinear Model Predictive Control for Collision Imminent Steering with Uncertain Coefficient of Friction","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045694297","doi":"https://doi.org/10.23919/acc45564.2020.9147713","mag":"3045694297"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9147713","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-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/A5074375611","display_name":"John Wurts","orcid":"https://orcid.org/0000-0002-4049-8945"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"John Wurts","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071952354","display_name":"James Dallas","orcid":"https://orcid.org/0000-0001-9109-1857"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Dallas","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106037362","display_name":"Jeffrey L. Stein","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey L. Stein","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076004234","display_name":"Tulga Ersal","orcid":"https://orcid.org/0000-0002-6811-8529"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tulga Ersal","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074375611"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.0065,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76700337,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4856","last_page":"4861"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"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":1.0,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9945999979972839,"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/collision","display_name":"Collision","score":0.6763691902160645},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6660455465316772},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6591694951057434},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6011598706245422},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5059196352958679},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4999423027038574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43878239393234253},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43647027015686035},{"id":"https://openalex.org/keywords/friction-coefficient","display_name":"Friction coefficient","score":0.43503737449645996},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2015996277332306},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10880163311958313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10728910565376282},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09316462278366089}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6763691902160645},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6660455465316772},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6591694951057434},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6011598706245422},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5059196352958679},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4999423027038574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43878239393234253},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43647027015686035},{"id":"https://openalex.org/C2989152160","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Friction coefficient","level":2,"score":0.43503737449645996},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2015996277332306},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10880163311958313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10728910565376282},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09316462278366089},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc45564.2020.9147713","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1552060826","https://openalex.org/W1964565648","https://openalex.org/W1969653231","https://openalex.org/W1985574396","https://openalex.org/W2025848087","https://openalex.org/W2040570451","https://openalex.org/W2057411336","https://openalex.org/W2058844926","https://openalex.org/W2123871098","https://openalex.org/W2147211883","https://openalex.org/W2346595613","https://openalex.org/W2620197950","https://openalex.org/W2735025962","https://openalex.org/W2773226774","https://openalex.org/W2793699687","https://openalex.org/W2844341886","https://openalex.org/W2887852696","https://openalex.org/W2972818999","https://openalex.org/W2973207713","https://openalex.org/W3018111941","https://openalex.org/W3034331814","https://openalex.org/W6632898853","https://openalex.org/W6776572565"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1981727740","https://openalex.org/W2368407738","https://openalex.org/W2143511391"],"abstract_inverted_index":{"For":[0],"model":[1,10,26],"predictive":[2,27],"controllers":[3],"in":[4,8,44,64,94],"automotive":[5],"applications,":[6],"variations":[7],"the":[9,52,65,69,76,95],"parameters":[11],"such":[12],"as":[13],"coefficient":[14,45,66,101],"of":[15,46,67,79,102],"friction":[16,47],"can":[17,90],"pose":[18],"a":[19,25],"robustness":[20,50],"challenge.":[21],"In":[22],"this":[23],"work,":[24],"controller":[28,71,89],"for":[29,48,61,106],"collision":[30],"imminent":[31],"steering":[32],"is":[33,56,72],"augmented":[34],"with":[35],"an":[36],"unscented":[37],"Kalman":[38],"filter":[39],"to":[40,42,75,85,108],"adapt":[41],"changes":[43],"improved":[49],"over":[51],"nonadaptive":[53,70],"baseline.":[54],"It":[55],"shown":[57],"via":[58],"simulations":[59],"that":[60],"small":[62],"deviations":[63,83,93],"friction,":[68,103],"robust":[73],"due":[74],"closed-loop":[77],"nature":[78],"MPC,":[80],"but":[81],"large":[82],"lead":[84],"failure.":[86],"The":[87],"adaptive":[88],"handle":[91],"larger":[92],"initial":[96,110],"plant":[97],"and":[98],"prediction":[99],"models'":[100],"maintaining":[104],"performance":[105],"up":[107],"55%":[109],"parametric":[111],"error.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}