{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T14:56:57Z","timestamp":1753887417291,"version":"3.41.2"},"reference-count":20,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,4,29]],"date-time":"2021-04-29T00:00:00Z","timestamp":1619654400000},"content-version":"vor","delay-in-days":118,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51675257","51305190"],"award-info":[{"award-number":["51675257","51305190"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010818","name":"Beijing Information Science and Technology University","doi-asserted-by":"publisher","award":["KF20202223201"],"award-info":[{"award-number":["KF20202223201"]}],"id":[{"id":"10.13039\/501100010818","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual\u2010motor\u2010driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%.<\/jats:p>","DOI":"10.1155\/2021\/5549776","type":"journal-article","created":{"date-parts":[[2021,4,29]],"date-time":"2021-04-29T21:40:17Z","timestamp":1619732417000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Trajectory Tracking Control in Real\u2010Time of Dual\u2010Motor\u2010Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4501-7431","authenticated-orcid":false,"given":"Gang","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2612-6459","authenticated-orcid":false,"given":"Sucai","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3724-0596","authenticated-orcid":false,"given":"Lei","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8576-9331","authenticated-orcid":false,"given":"Xubin","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2854-921X","authenticated-orcid":false,"given":"Yuming","family":"Yin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,4,29]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2013.874563"},{"key":"e_1_2_10_2_2","doi-asserted-by":"crossref","unstructured":"FihoC.andWolfD. Dynamic inversion-based control for front wheel drive autonomous ground vehicles near the limits of handling Proceedings of the 2014 IEEE 17th International Conference on Intelligent Transportation Systems (ITSC) October 2014 Qingdao China IEEE.","DOI":"10.1109\/ITSC.2014.6958019"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2015.1055279"},{"key":"e_1_2_10_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2016.04.013"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/0954407014567517"},{"key":"e_1_2_10_6_2","doi-asserted-by":"crossref","unstructured":"InoueS. OzawaT. InoueH.et al. Cooperative lateral control between driver and ADAS by haptic shared control using steering torque assistance combined with Direct Yaw Moment Control Proceedings of the 2016 IEEE International Conference on Intelligent Transportation Systems November 2016 Rio de Janeiro Brazil.","DOI":"10.1109\/ITSC.2016.7795573"},{"key":"e_1_2_10_7_2","first-page":"1","article-title":"Autonomous vehicle control: a nonconvex approach for obstacle avoidance","volume":"25","author":"Rosolia U.","year":"2016","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"e_1_2_10_8_2","first-page":"9712","article-title":"Autonomous vehicle control through the dynamics and controller learning","volume":"67","author":"Su J.","year":"2018","journal-title":"IEEE Transactions on Vehicular Technology"},{"key":"e_1_2_10_9_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12209-015-2485-x"},{"key":"e_1_2_10_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2018.04.007"},{"key":"e_1_2_10_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.02.001"},{"key":"e_1_2_10_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/tvt.2017.2723418"},{"key":"e_1_2_10_13_2","doi-asserted-by":"publisher","DOI":"10.3390\/app8050822"},{"key":"e_1_2_10_14_2","first-page":"698","article-title":"Adaptive preview control of lateral movement of intelligent vehicle with visual navigation","volume":"25","author":"Chen W.","year":"2014","journal-title":"China Mechanical Engineering"},{"key":"e_1_2_10_15_2","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/253176"},{"key":"e_1_2_10_16_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-019-2714-7"},{"key":"e_1_2_10_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/tpel.2021.3049241"},{"key":"e_1_2_10_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/tim.2020.3045843"},{"key":"e_1_2_10_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/tsg.2015.2412779"},{"key":"e_1_2_10_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.3041261"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2021\/5549776.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2021\/5549776.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2021\/5549776","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,9]],"date-time":"2024-08-09T23:04:20Z","timestamp":1723244660000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2021\/5549776"}},"subtitle":[],"editor":[{"given":"Rui","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2021,1]]},"references-count":20,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["10.1155\/2021\/5549776"],"URL":"https:\/\/doi.org\/10.1155\/2021\/5549776","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"type":"print","value":"1076-2787"},{"type":"electronic","value":"1099-0526"}],"subject":[],"published":{"date-parts":[[2021,1]]},"assertion":[{"value":"2021-02-22","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-03-27","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-04-29","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"5549776"}}