{"id":"https://openalex.org/W2099740514","doi":"https://doi.org/10.23919/ecc.2013.6669717","title":"Trajectory-tracking and path-following controllers for constrained underactuated vehicles using Model Predictive Control","display_name":"Trajectory-tracking and path-following controllers for constrained underactuated vehicles using Model Predictive Control","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2099740514","doi":"https://doi.org/10.23919/ecc.2013.6669717","mag":"2099740514"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669717","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/186264","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003960846","display_name":"Andrea Alessandretti","orcid":"https://orcid.org/0000-0002-1861-8525"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"funder","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]}],"countries":["CH","FR"],"is_corresponding":true,"raw_author_name":"Andrea Alessandretti","raw_affiliation_strings":["\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Ecole Polytech. Fed. de Lausanne EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole Polytech. Fed. de Lausanne EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I29607241"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Faculty of Engineering, University of Porto (FEUP), Portugal","Fac. of Eng., Univ. of Porto (FEUP), Porto, Portugal"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Porto (FEUP), Portugal","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"Fac. of Eng., Univ. of Porto (FEUP), Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085117832","display_name":"Colin N. Jones","orcid":"https://orcid.org/0000-0001-7239-4799"},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"funder","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Colin N. Jones","raw_affiliation_strings":["\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Ecole Polytech. Fed. de Lausanne EPFL, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole Polytech. Fed. de Lausanne EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I29607241"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5003960846"],"corresponding_institution_ids":["https://openalex.org/I29607241","https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":10.1718,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.98102472,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1371","last_page":"1376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9995999932289124,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991000294685364,"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":0.9958000183105469,"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/underactuation","display_name":"Underactuation","score":0.8984246253967285},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8390960693359375},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8035097718238831},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.793499231338501},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5503982901573181},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5395194292068481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5263779759407043},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45651862025260925},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43890661001205444},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.43827566504478455},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4159931540489197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3576030135154724},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3246266841888428},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22927641868591309},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1251297891139984}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8984246253967285},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8390960693359375},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8035097718238831},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.793499231338501},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5503982901573181},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5395194292068481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5263779759407043},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45651862025260925},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43890661001205444},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.43827566504478455},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4159931540489197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3576030135154724},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3246266841888428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22927641868591309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1251297891139984},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/ecc.2013.6669717","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:186264","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/186264","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.epfl.ch:199227","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/199227","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:186264","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/186264","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W175060410","https://openalex.org/W1565554466","https://openalex.org/W1601380202","https://openalex.org/W1603030703","https://openalex.org/W1775521486","https://openalex.org/W1851495196","https://openalex.org/W1967073510","https://openalex.org/W1978956894","https://openalex.org/W1984797278","https://openalex.org/W1993171261","https://openalex.org/W2001428612","https://openalex.org/W2030054607","https://openalex.org/W2041109651","https://openalex.org/W2066459185","https://openalex.org/W2099441085","https://openalex.org/W2112368081","https://openalex.org/W2117321644","https://openalex.org/W2122561468","https://openalex.org/W2150531296","https://openalex.org/W2150749340","https://openalex.org/W2186081814","https://openalex.org/W2536620281"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W128654086","https://openalex.org/W2126607016"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,13,17,37,40,47,50,56,61,68,77,88],"design":[4],"of":[5,39,49,58],"Model":[6],"Predictive":[7],"Control":[8],"(MPC)":[9],"laws":[10,35],"to":[11,76,94,97],"solve":[12],"trajectory-tracking":[14],"problem":[15,19],"and":[16,67,96],"path-following":[18],"for":[20,55],"constrained":[21,79],"underactuated":[22],"vehicles.":[23,100],"By":[24],"allowing":[25],"an":[26],"arbitrarily":[27],"small":[28],"asymptotic":[29],"tracking":[30],"error,":[31],"we":[32],"derive":[33],"MPC":[34,70,90],"where":[36,87],"size":[38,48],"terminal":[41,62],"set":[42,63],"is":[43],"only":[44],"limited":[45],"by":[46],"system":[51],"constraints.":[52],"In":[53],"fact,":[54],"case":[57],"unconstrained":[59],"inputs,":[60],"can":[64],"be":[65],"neglected":[66],"resulting":[69],"controllers":[71,91],"provide":[72],"a":[73],"global":[74],"solution":[75],"addressed":[78],"motion":[80],"control":[81],"problems.":[82],"Simulation":[83],"results":[84],"are":[85,92],"presented":[86],"proposed":[89],"applied":[93],"2-D":[95],"3-D":[98],"moving":[99]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}