{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T18:15:02Z","timestamp":1779387302896,"version":"3.53.1"},"reference-count":35,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2025,5,31]],"date-time":"2025-05-31T00:00:00Z","timestamp":1748649600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"Shaanxi Qinchuangyuan Scientists + Engineers team building project","award":["Grant2022KXJ-021"],"award-info":[{"award-number":["Grant2022KXJ-021"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2026,6]]},"abstract":"<jats:p>This paper investigates the integrated control problem of path tracking and fault-tolerant yaw stability for autonomous vehicles and proposes a robust control scheme with multi-objective constraints. The proposed scheme adopts a hierarchical structure, consisting of a top-level generalized force decision layer and a bottom-level allocation layer. In the top-level controller, a multi-objective constrained robust control strategy is designed to address parameter uncertainties. This design ensures that the path-tracking closed-loop system achieves H\u221e performance and guaranteed performance, while also considering the specified decay rate for enhanced stability. The controller determines the four-wheel steering angles for path tracking, as well as the external yaw moment and roll moment required for lateral stability. In the bottom-level controller, to fully exploit the advantages of integrated control, a fault-tolerant yaw stability control scheme is developed. This scheme implements reconfigurable tire force control using a control allocation method. Simultaneously, the four-wheel steering angles adhere to the Ackermann geometric relationship, and the external roll moment is generated through direct suspension force input. Finally, co-simulation results using CarSim and Simulink demonstrate that the proposed integrated control scheme provides high tracking accuracy and robustness. Furthermore, in the event of a brake actuator failure, the scheme successfully achieves fault-tolerant yaw stability control, thereby maximizing the benefits of the integrated control approach.<\/jats:p>","DOI":"10.1177\/01423312251330765","type":"journal-article","created":{"date-parts":[[2025,5,31]],"date-time":"2025-05-31T13:32:56Z","timestamp":1748698376000},"page":"1944-1961","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Robust integrated control of autonomous vehicles path tracking with fault-tolerant yaw stability control"],"prefix":"10.1177","volume":"48","author":[{"given":"Nan","family":"Kang","sequence":"first","affiliation":[{"name":"School of Automobile, Chang\u2019an University, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1582-9092","authenticated-orcid":false,"given":"Yi","family":"Han","sequence":"additional","affiliation":[{"name":"School of Automobile, Chang\u2019an University, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lirui","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automobile, Chang\u2019an University, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,5,31]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2018.2795381"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-016-0442-0"},{"issue":"2","key":"e_1_3_3_4_1","first-page":"2239","article-title":"Trajectory tracking of autonomous vehicles based on model predictive control with PID feedback","volume":"24","author":"Chu D","year":"2022","unstructured":"Chu D, Li H, Zhao C, et al. 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