{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T14:52:54Z","timestamp":1773154374654,"version":"3.50.1"},"reference-count":45,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2020,1,27]],"date-time":"2020-01-27T00:00:00Z","timestamp":1580083200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2020,6]]},"abstract":"<jats:p> To improve the performance and robustness of autonomous electric ground vehicles, we present a novel triple-step control architecture employing a lateral prescribed performance scheme to design an adaptive fault-tolerant controller to realize the nonlinear path-tracking manoeuvers against uncertainties, disturbances and even a total failure of steering capability. It is proved that the closed-loop system based on the developed control framework guarantees a regulation of the lateral offset with prescribed performance. The major advantage over conventional path-tracking control frameworks is that our approach can guarantee both the transient and the steady-state performance of the system under a broad range of driving conditions with robustness to model uncertainties, disturbances and even faults. Finally, simulation results are presented to demonstrate the superiority of the proposed scheme. <\/jats:p>","DOI":"10.1177\/0142331219895343","type":"journal-article","created":{"date-parts":[[2020,1,27]],"date-time":"2020-01-27T11:50:01Z","timestamp":1580125801000},"page":"1740-1751","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Fault-tolerant path-tracking control of autonomous electric ground vehicles with lateral prescribed performance"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6746-2953","authenticated-orcid":false,"given":"Yulei","family":"Wang","sequence":"first","affiliation":[{"name":"The State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"},{"name":"Department of Control Science and Engineering, Jilin University, Changchun, China"}]},{"given":"Lu","family":"Yin","sequence":"additional","affiliation":[{"name":"Department of Control Science and Engineering, Jilin University, Changchun, China"}]},{"given":"Nan","family":"Xu","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"}]},{"given":"Ning","family":"Bian","sequence":"additional","affiliation":[{"name":"Dongfeng Technical Center, Dongfeng Motor Corporation, Wuhan, China"}]},{"given":"Hong","family":"Chen","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"},{"name":"Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China"}]}],"member":"179","published-online":{"date-parts":[[2020,1,27]]},"reference":[{"key":"bibr1-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/B978-1-85617-749-8.00003-9"},{"key":"bibr2-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.03.038"},{"key":"bibr3-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-016-0442-0"},{"key":"bibr4-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1177\/0959651819847395"},{"key":"bibr5-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1080\/00423110801927100"},{"key":"bibr6-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.02.020"},{"key":"bibr7-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-73429-1"},{"key":"bibr8-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2013.0476"},{"key":"bibr9-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2018.02.002"},{"key":"bibr10-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2018.02.001"},{"key":"bibr11-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1243\/14644193JMBD120"},{"key":"bibr12-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2544791"},{"key":"bibr13-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-018-1135-x"},{"key":"bibr14-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2435016"},{"key":"bibr15-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2472975"},{"key":"bibr16-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TTE.2016.2538183"},{"key":"bibr17-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919859634"},{"key":"bibr18-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0844-2"},{"key":"bibr19-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1818"},{"key":"bibr20-0142331219895343","volume-title":"Robust Adaptive Control","author":"Ioannou PA","year":"1995"},{"key":"bibr21-0142331219895343","volume-title":"Vehicle Dynamics Theory and Application","author":"Jazar RN","year":"2007"},{"key":"bibr22-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2016.2555853"},{"key":"bibr23-0142331219895343","first-page":"543","volume":"33","author":"Jiang Z","year":"1997","journal-title":"Automatica"},{"key":"bibr24-0142331219895343","doi-asserted-by":"publisher","DOI":"10.4271\/2017-01-9680"},{"key":"bibr25-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0916-3"},{"key":"bibr26-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/JSTSP.2012.2232280"},{"key":"bibr27-0142331219895343","first-page":"8132","volume-title":"The 34th Chinese Control Conference","author":"Liu Q","year":"2015"},{"key":"bibr28-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2011.08.005"},{"key":"bibr29-0142331219895343","volume-title":"Tire and Vehicle Dynamics","author":"Pacejka HB","year":"2006"},{"key":"bibr30-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"bibr31-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2008.2011697"},{"key":"bibr32-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2925733"},{"key":"bibr33-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/9.362899"},{"key":"bibr34-0142331219895343","first-page":"1089","volume-title":"the 9th International Joint Conference on Artificial Intelligence","author":"Wallace R","year":"1985"},{"key":"bibr35-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.08.005"},{"key":"bibr36-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1177\/0142331218787605"},{"key":"bibr37-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.08.015"},{"key":"bibr38-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1002\/acs.2732"},{"key":"bibr39-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2017.0539"},{"key":"bibr40-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2837128"},{"key":"bibr41-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2018.11.030"},{"key":"bibr42-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1177\/0142331218775477"},{"key":"bibr43-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-017-9338-1"},{"key":"bibr44-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2013.1112"},{"key":"bibr45-0142331219895343","doi-asserted-by":"publisher","DOI":"10.1177\/0954410018766805"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219895343","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0142331219895343","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331219895343","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,28]],"date-time":"2025-02-28T15:24:17Z","timestamp":1740756257000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0142331219895343"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,27]]},"references-count":45,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2020,6]]}},"alternative-id":["10.1177\/0142331219895343"],"URL":"https:\/\/doi.org\/10.1177\/0142331219895343","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,1,27]]}}}