**Author details**

Xianjian Jin1,2\* and Qikang Wang1

1 School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China

2 Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai, China

\*Address all correspondence to: jinxianjian@yeah.net

© 2023 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

*Nonlinear Robust Control of Trajectory-Following for Autonomous Ground Electric Vehicles DOI: http://dx.doi.org/10.5772/intechopen.112049*

### **References**

[1] Deng H, Zhao Y, Nguyen AT, Huang C. Fault-tolerant predictive control with deep-reinforcement-learningbased torque distribution for four inwheel motor drive electric vehicles. IEEE/ASME Transactions on Mechatronics. 2023;**28**(2):668-680. DOI: 10.1109/TMECH.2022.3233705

[2] Yassine A, Hossain MS, Muhammad G, Guizani M. Double auction mechanisms for dynamic autonomous electric vehicles energy trading. IEEE Transactions on Vehicular Technology. 2019;**68**(8):7466-7476. DOI: 10.1109/TVT.2019.2920531

[3] Barari A, Saraygord AS, Liang X. Coordinated control for path-following of an autonomous four in-wheel motor drive electric vehicle. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 2022;**236**(11):6335-6346. DOI: 10.1177/09544062211064797

[4] Gözü M, Ozkan B, Emirler MT. Disturbance observer based active independent front steering control for improving vehicle yaw stability and tire utilization. International Journal of Automotive Technology. 2022;**23**(3): 841-854. DOI: 10.1007/s12239-022- 0075-1

[5] Mousavinejad E, Han QL, Yang F, Zhu Y, Vlacic L. Integrated control of ground vehicles dynamics via advanced terminal sliding mode control. Vehicle System Dynamics. 2017;**55**(2):268-294. DOI: 10.1080/00423114.2016.1256489

[6] Wang Y, Nguyen B, Fujimoto H, Hori Y. Multirate estimation and control of body slip angle for electric vehicles based on onboard vision system. IEEE Transactions on Industrial Electronics.

2014;**61**:1133-1143. DOI: 10.1109/ TIE.2013.2271596

[7] Wang G, Liu Y, Li S, Tian Y, Zhang N, Cui G. New integrated vehicle stability control of active front steering and electronic stability control considering tire force reserve capability. IEEE Transactions on Vehicular Technology. 2021;**70**:2181-2195. DOI: 10.1109/TVT.2021.3056560

[8] Cho J, Huh K. Active front steering for driver's steering comfort and vehicle driving stability. International Journal of Automotive Technology. 2019;**20**: 589-596. DOI: 10.1007/s12239-019- 0056-1

[9] Falcone P, Borrelli F, Asgari J, Tseng H, Hrovat D. Predictive active steering control for autonomous vehicle systems. IEEE Transactions on Control Systems Technology. 2007;**15**:566-580. DOI: 10.1109/TCST.2007.894653

[10] Soltani A, Azadi S, Jazar RN. Integrated control of braking and steering systems to improve vehicle stability based on optimal wheel slip ratio estimation. Journal of the Brazilian Society of Mechanical Sciences and Engineering. 2022;**44**(3):102. DOI: 10.1007/s40430-022-03420-2

[11] Hladio A, Nielsen C, Wang D. Path following for a class of mechanical systems. IEEE Transactions on Control Systems Technology. 2012;**21**(6): 2380-2390. DOI: 10.1109/TCST.2012. 2223470

[12] Ahmadian N, Khosravi A, Sarhadi P. Driver assistant yaw stability control via integration of AFS and DYC. Vehicle system dynamics. 2022;**60**(5): 1742-1762. DOI: 10.1080/ 00423114.2021.1879390

[13] Ghaffari V. Optimal tuning of composite nonlinear feedback control in time-delay nonlinear systems. Journal of the Franklin Institute. 2020;**357**(2): 1331-1356. DOI: 10.1016/j. jfranklin.2019.12.024

[14] Mobayen S. Robust tracking controller for multivariable delayed systems with input saturation via composite nonlinear feedback. Nonlinear Dynamics. 2014;**76**(1):827-838. DOI: 10.1007/s11071-013-1172-5

[15] Yu S, Li X, Chen H, Allgöwer F. Nonlinear model predictive control for path following problems. International Journal of Robust and Nonlinear Control. 2015;**25**(8):1168-1182. DOI: 10.1002/ rnc.3133

[16] Chen J, Shuai Z, Zhang H, Zhao W. Path following control of autonomous four-wheel-independent-drive electric vehicles via second-order sliding mode and nonlinear disturbance observer techniques. IEEE Transactions on Industrial Electronics. 2020;**68**(3): 2460-2469. DOI: 10.1109/ TIE.2020.2973879

[17] Liu Z, Chen X, Yu J. Adaptive sliding mode security control for stochastic markov jump cyber-physical nonlinear systems subject to actuator failures and randomly occurring injection attacks. IEEE Transactions on Industrial Informatics. 2022;**19**(3):3155-3165. DOI: 10.1109/TII.2022.3181274

[18] Zhao X, Liu Z, Jiang B, Gao C. Switched controller design for robotic manipulator via neural network-based sliding mode approach. IEEE Transactions on Circuits and Systems II: Express Briefs. 2023;**70**(2):561-565. DOI: 10.1109/TCSII.2022.3169475

[19] Xu B, Sun F, Pan Y, Chen B. Disturbance observer based composite learning fuzzy control of nonlinear systems with unknown dead zone. IEEE Transactions on Systems, Man, and Cybernetics: Systems. 2016;**47**(8): 1854-1862. DOI: 10.1109/ TSMC.2016.2562502

[20] Cao H, Song X, Zhao S, Bao S, Huang Z. An optimal model-based trajectory-following architecture synthesising the lateral adaptive preview strategy and longitudinal velocity planning for highly automated vehicle. Vehicle System Dynamics. 2017;**55**(8): 1143-1188. DOI: 10.1080/ 00423114.2017.1305114

[21] Cervantes J, Yu W, Salazar S, Chairez I. Takagi–Sugeno dynamic neuro-fuzzy controller of uncertain nonlinear systems. IEEE Transactions on Fuzzy Systems. 2016;**25**(6):1601-1615. DOI: 10.1109/TFUZZ.2016.2612697

[22] Wu Y, Wang L, Zhang J, Li F. Path following control of autonomous ground vehicle based on nonsingular terminal sliding mode and active disturbance rejection control. IEEE Transactions on Vehicular Technology. 2019;**68**(7): 6379-6390. DOI: 10.1109/ TVT.2019.2916982

[23] Ding T, Zhang Y, Ma G, Cao Z, Zhao X, Tao B. Trajectory tracking of redundantly actuated mobile robot by MPC velocity control under steering strategy constraint. Mechatronics. 2022; **84**:102779. DOI: 10.1016/j. mechatronics.2022.102779

[24] Moradi H, Vossoughi G, Movahhedy MR, Salarieh H. Suppression of nonlinear regenerative chatter in milling process via robust optimal control. Journal of Process Control. 2013;**23**(5):631-648. DOI: 10.1016/j.jprocont.2013.02.006

[25] Fu Y, Li B, Fu J. Multi-model adaptive switching control of a nonlinear *Nonlinear Robust Control of Trajectory-Following for Autonomous Ground Electric Vehicles DOI: http://dx.doi.org/10.5772/intechopen.112049*

system and its applications in a smelting process of fused magnesia. Journal of Process Control. 2022;**115**:67-76. DOI: 10.1016/j.jprocont.2022.04.009

[26] Fahmy SFF, Banks SP. Robust *H*infinity control of uncertain nonlinear dynamical systems via linear timevarying approximations. Nonlinear Analysis: Theory, Methods & Applications. 2005;**63**(5–7):2315-2327. DOI: 10.1016/j.na.2005.03.030

[27] Ju G, Wu Y, Sun W. Adaptive output feedback asymptotic stabilization of nonholonomic systems with uncertainties. Nonlinear Analysis: Theory, Methods and Applications. 2009;**71**(11):5106-5117. DOI: 10.1016/j. na.2009.03.088

[28] Li SE, Gao F, Li K, Wang LY, You K, Cao D. Robust longitudinal control of multi-vehicle systems-a distributed Hinfinity method. IEEE Transactions on Intelligent Transportation Systems. 2017; **19**(9):2779-2788. DOI: 10.1109/ TITS.2017.2760910
