https://m2.mtmt.hu/ hun 2026-07-28 04:52 JournalArticle 34735212 ADMIN_APPROVED true Export Date: 18 March 2024 Correspondence Address: Vajk, I.; Department of Automation and Applied Informatics, Műegyetem rkp. 3., Hungary; email: vajk@aut.bme.hu 0 false 2026-05-23T15:49:12.584+0000 2024-04-16T08:22:11.010+0000 2024-03-13T08:34:31.805+0000 true 10069115 Kovács Adorján /api/author/10069115 Author Kovács Adorján (villamosmérnök) true 2024-04-16T08:21:59.231+0000 2024-04-16T08:21:59.231+0000 2024-04-16T08:22:11.018+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin Andódy Katalin (BME admin4) true true false true 24 24 /api/publicationtype/24 PublicationType Folyóiratcikk 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType Folyóiratcikk 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType Szakcikk (Folyóiratcikk) 101 true 10000059 true 1 /api/category/1 Category Tudományos true 1 Kovács, Adorján true true /api/journal/10003231 REVIEWED INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY 1229-9138 1976-3832 true false 10003231 false 10003231 true 1229-9138 1976-3832 Journal FOREIGN 25 2 249 260 249 12 2024 The paper presents a new internal model control (IMC) based control technique for lateral trajectory tracking of autonomous vehicles. The controller’s proposed structure employs a robust, fault-tolerant nonlinear internal servo control with optimal reference generation concerning vehicle yaw stability and physical limitations. The presented inscription of the reference generation creates a convex optimization task that can be used in real-time applications. Improvements in yaw-rate stability of vehicle motion control are first shown through simulation results performed in a Simulink environment. The controller structure was also implemented in a real-time model and was examined in a Mercedes C-Class vehicle. In this article, the simulation results and the real-time measurements are presented. The results show that the proposed controller has high efficiency in disturbance rejection and lower sensitivity towards parameter changes compared to a model predictive control (MPC) structure. true 2024 true true true false true false GOLD 2026-05-23 true https://doi.org/10.1007/s12239-024-00003-z 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Q2 false 10001498 false false false 2024-04-15T08:22:10.800+0000 Automatizálási és Alkalmazott Informatikai Tanszék (BME / VIK) 2 9 1 2 0 true Language 10002 /api/language/10002 Angol Angol English true 2 true PersonAuthorship 115799196 /api/authorship/115799196 Kovács, Adorján [Kovács, Adorján (villamosmérnök), szerző] Automatizálási és Alkalmazott Informatikai Tanszék (BME / VIK) 1 0.5 true false false Author 10069115 /api/author/10069115 Kovács Adorján (villamosmérnök) Kovács Adorján true true Kovács Adorján true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PersonAuthorship 115799197 /api/authorship/115799197 Vajk, István ✉ [Vajk, István (Irányítástechnika...), szerző] Automatizálási és Alkalmazott Informatikai Tanszék (BME / VIK) 2 0.5 false true true Author 10001498 /api/author/10001498 Vajk István (Irányítástechnika, műszaki informatika) Vajk István true 10001498 true Vajk István true false false AuthorshipType 1 /api/authorshiptype/1 Szerző 0 true 0 true false true PublicationIdentifier 25859768 /api/publicationidentifier/25859768 DOI: 10.1007/s12239-024-00003-z PlainSource 6 /api/publicationsource/6 DOI PublicationSourceType 10001 /api/publicationsourcetype/10001 DOI true true true DOI DOI https://doi.org/@@@ true true 6 true GOLD true IDENTICAL 10.1007/s12239-024-00003-z https://doi.org/10.1007/s12239-024-00003-z false true PublicationIdentifier 25877563 /api/publicationidentifier/25877563 WoS: 001174683600001 PlainSource 1 /api/publicationsource/1 WoS PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 001174683600001 https://www.webofscience.com/wos/woscc/full-record/001174683600001 false true PublicationIdentifier 25877561 /api/publicationidentifier/25877561 Scopus: 85186580986 PlainSource 3 /api/publicationsource/3 Scopus PublicationSourceType 10003 /api/publicationsourcetype/10003 Indexelő adatbázis false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true IDENTICAL 85186580986 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85186580986 false true PublicationIdentifier 25859769 /api/publicationidentifier/25859769 Egyéb URL: https://link.springer.com/10.1007/s12239-024-00003-z PlainSource 40 /api/publicationsource/40 Egyéb URL PublicationSourceType 10006 /api/publicationsourcetype/10006 Link true true true Egyéb URL Other URL @@@ true true 40 true https://link.springer.com/10.1007/s12239-024-00003-z https://link.springer.com/10.1007/s12239-024-00003-z false true Keyword 12458 /api/keyword/12458 CONTROLLERS true 12458 true Keyword 1014197 /api/keyword/1014197 Nonlinear control true 1014197 true Keyword 1014306 /api/keyword/1014306 Robust control true 1014306 true Keyword 1032575 /api/keyword/1032575 Control techniques true 1032575 true Keyword 1043667 /api/keyword/1043667 Model predictive control true 1043667 true Keyword 1066221 /api/keyword/1066221 Predictive control systems true 1066221 true Keyword 1072934 /api/keyword/1072934 Convex optimization true 1072934 true Keyword 1112501 /api/keyword/1112501 Model-based OPC true 1112501 true Keyword 1122277 /api/keyword/1122277 Internal model control true 1122277 true Keyword 1149726 /api/keyword/1149726 C (programming language) true 1149726 true Keyword 1173372 /api/keyword/1173372 Non linear control true 1173372 true Keyword 1179468 /api/keyword/1179468 Internal models true 1179468 true Keyword 1258856 /api/keyword/1258856 Autonomous Vehicles true 1258856 true Keyword 1687763 /api/keyword/1687763 disturbance rejection true true Keyword 2158969 /api/keyword/2158969 Path tracking control true true Keyword 2384639 /api/keyword/2384639 Convex optimisation true true Keyword 2483116 /api/keyword/2483116 path following control true true Keyword 3362761 /api/keyword/3362761 Path-tracking control true true Keyword 3362762 /api/keyword/3362762 Reference Generation true true SjrRating 11443049 /api/sjrrating/11443049 sjr:Q2 (2024) Scopus - Automotive Engineering INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY 1229-9138 1976-3832 47 0.49 journal RatingType 10002 /api/ratingtype/10002 sjr sjr true true ClassificationExternal 2203 /api/classificationexternal/2203 Scopus - Automotive Engineering true 2203 true Q2 DIRECT true true Reference 50957180 /api/reference/50957180 1. 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(2024) INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY 1229-9138 1976-3832 25 2 249-260<div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10069115"><a href="/gui2/?type=authors&mode=browse&sel=10069115" target="_blank">Kovács Adorján (<span class="authorship-author-name">Kovács Adorján</span> <span class="authorAux-mtmt"> villamosmérnök</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Automatizálási és Alkalmazott Informatikai Tanszék</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10001498"><a href="/gui2/?type=authors&mode=browse&sel=10001498" target="_blank">Vajk István ✉ (<span class="authorship-author-name">Vajk István</span> <span class="authorAux-mtmt"> Irányítástechnika, műszaki informatika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Automatizálási és Alkalmazott Informatikai Tanszék</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;34735212" target="_blank">Internal Model-Based Robust Path-Following Control for Autonomous Vehicles</a></div> <div> <span class="journal-title">INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1229-9138">1229-9138</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1976-3832">1976-3832</a>)</span>: <span class="journal-volume">25</span> <span class="journal-issue">2</span> <span class="page"> pp 249-260 </span> <span class="year">(2024)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_GOLD" title=" Gold "> <a style="color:blue" title="10.1007/s12239-024-00003-z" target="_blank" href="https://doi.org/10.1007/s12239-024-00003-z"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="001174683600001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/001174683600001"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="85186580986" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85186580986"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="https://link.springer.com/10.1007/s12239-024-00003-z" target="_blank" href="https://link.springer.com/10.1007/s12239-024-00003-z"> Egyéb URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Automotive Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> </div></OnlyViewableByAuthor> <div class="mtid"><span class="long-pub-mtid">Közlemény: 34735212</span> | <span class="status-data status-ADMIN_APPROVED"> Admin láttamozott </span> Forrás | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Utolsó módosítás: 2024.04.16. 10:22 Andódy Katalin (BME admin4) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: Export Date: 18 March 2024 Correspondence Address: Vajk, I.; Department of Automation and Applied Informatics, Műegyetem rkp. 3., Hungary; email: vajk@aut.bme.hu</pre> </div></div>