https://m2.mtmt.hu/ eng 2026-04-15 06:12 JournalArticle 33555101 ADMIN_APPROVED true 0 false 2026-04-07T10:59:52.413+0000 2025-01-12T09:43:39.785+0000 2023-01-11T15:04:22.165+0000 true 10001105 Csernák Gábor /api/author/10001105 Author true 10001105 2026-01-06T10:16:36.475+0000 2025-01-12T09:43:39.984+0000 true 10065569 Pécsi Éva /api/admin/10065569 Admin true Admin 10014568 /api/admin/10014568 Vándor Andrea true 10014568 true 2025-06-04T14:23:08.440+0000 true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Bartfai, Andras Stability analysis of a digital hierarchical steering controller of autonomous vehicles with multiple time delays true true /api/journal/30231 REVIEWED true false 30231 false 30231 true 1077-5463 1741-2986 Journal FOREIGN 30 1-2 330 341 330 12 2024 This study investigates the lane-keeping control of autonomous vehicles with an emphasis on the digital delayed nature of the system. The vehicle dynamics are represented using a kinematic bicycle model, and a hierarchical lane-keeping controller is introduced with multiple delays in the feedback loop. An extension of the semidiscretization method is presented, in order to perform the stability analysis of the digitally controlled vehicle with multiple discrete time delays. The differences between the continuous approximation and the exact consideration of discrete time delays are highlighted. We show that in certain cases, neglecting the effects of quantization can lead to significant inaccuracies, especially when tuning the lower-level controller. 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left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10076973"><a href="/gui2/?type=authors&mode=browse&sel=10076973" target="_blank">Bartfai Andras (<span class="authorship-author-name">Bártfai András</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/Department of Applied Mechanics; <span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/<span title="Department of Applied Mechanics">DAM</span>/MTA-BME Lendület Machine Tool Vibration Research Group</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10063326"><a href="/gui2/?type=authors&mode=browse&sel=10063326" target="_blank">Voros Illes (<span class="authorship-author-name">Vörös Illés</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/Department of Applied Mechanics; <span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/<span title="Department of Applied Mechanics">DAM</span>/ELKH-BME Gépek Dinamikája Kutatócsoport</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10019718"><a href="/gui2/?type=authors&mode=browse&sel=10019718" target="_blank">Takacs Denes (<span class="authorship-author-name">Takács Dénes</span> <span class="authorAux-mtmt"> Műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/Department of Applied Mechanics; <span title="Budapest University of Technology and Economics">BUTE</span>/<span title="Faculty of Mechanical Engineering">FME</span>/<span title="Department of Applied Mechanics">DAM</span>/ELKH-BME Gépek Dinamikája Kutatócsoport</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;33555101" target="_blank">Stability analysis of a digital hierarchical steering controller of autonomous vehicles with multiple time delays</a></div> <div> <span class="journal-title">JOURNAL OF VIBRATION AND CONTROL</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1077-5463">1077-5463</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1741-2986">1741-2986</a>)</span>: <span class="journal-volume">30</span> <span class="journal-issue">1-2</span> <span class="page"> pp 330-341 </span> <span class="year">(2024)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Language: English | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1177/10775463221146624" target="_blank" href="https://doi.org/10.1177/10775463221146624"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="http://journals.sagepub.com/doi/10.1177/10775463221146624" target="_blank" href="http://journals.sagepub.com/doi/10.1177/10775463221146624"> At publisher </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="000906868100001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000906868100001"> WoS </a> </span> <span class="id identifier oa_GREEN" title=" Green "> <a style="color:black" title="173985" target="_blank" href="http://real.mtak.hu/173985"> REAL </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85145713364" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85145713364"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://phd.gpk.bme.hu/pub/s/j/l9/t3?3001770" target="_blank" href="https://phd.gpk.bme.hu/pub/s/j/l9/t3?3001770"> Other URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Journal subject: Scopus - Automotive Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q1</div> <div class="journal-subject">Journal subject: Scopus - Aerospace Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> <div class="journal-subject">Journal subject: Scopus - Materials Science (miscellaneous)&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> <div class="journal-subject">Journal subject: Scopus - Mechanical Engineering&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> <div class="journal-subject">Journal subject: Scopus - Mechanics of Materials&nbsp;&nbsp;&nbsp;Rank:&nbsp;Q2</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="" class="citingPub-count">Citing papers: 8</span> | Independent citation: 5 | Self citation: 2 | Unknown citation: 1 | Number of citations in WoS: 8 | Number of citations in Scopus:&nbsp;6 | WoS/Scopus assigned:&nbsp;8 | Number of citations with DOI:&nbsp;8 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;33555101&sort=publishedYear,desc&sort=title"> Number of cited publications: 8 </a> </div> <div class="mtid"><span class="long-pub-mtid">Publication: 33555101</span> | <span class="status-data status-ADMIN_APPROVED"> Admin approved </span> Core Citing | <span class="type-subtype">Journal Article ( Article ) </span> | <span class="pub-category">Scientific</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="notDuplums"><a target="_blank" href="/api/publication/33555101/notduplums">350 marked as not duplum</a> </div> <div class="lastModified">Last Modified: 2025.01.12. 10:43 Éva Pécsi (MTMT Közp 2,3, admin) </div> <div class="lockedBy">Centrally managed 2025.06.04. 16:23 Andrea Vándor (VA, admin) </div> </div></div>