{"id":"https://openalex.org/W2550446751","doi":"https://doi.org/10.1109/iecon.2007.4460414","title":"On the Properties of the Backstepping Design for Marine Vehicles","display_name":"On the Properties of the Backstepping Design for Marine Vehicles","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2550446751","doi":"https://doi.org/10.1109/iecon.2007.4460414","mag":"2550446751"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2007.4460414","doi":"https://doi.org/10.1109/iecon.2007.4460414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2007.4460414","pdf_url":null,"source":{"id":"https://openalex.org/S4210172894","display_name":"Annual Conference of the IEEE Industrial Electronics Society (IECON)","issn_l":"1553-572X","issn":["1553-572X","2577-1647"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019066420","display_name":"Alec J. Bateman","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alec Bateman","raw_affiliation_strings":["Department of Electr. & Computer Engr., University of Virginia, Charlottesville, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electr. & Computer Engr., University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064120691","display_name":"Jason R. Hull","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jason Hull","raw_affiliation_strings":["Spire Innovations Limited Liability Company, Charlottesville, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Spire Innovations Limited Liability Company, Charlottesville, VA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105936104","display_name":"Zongli Lin","orcid":"https://orcid.org/0000-0003-1589-1443","observed_orcids":["https://orcid.org/0000-0003-1589-1443"]},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zongli Lin","raw_affiliation_strings":["Department of Electr. & Computer Engr., University of Virginia, Charlottesville, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electr. & Computer Engr., University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.33277482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"504","last_page":"509"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.8442000150680542,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.8442000150680542,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.044199999421834946,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.03060000017285347,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping-control","display_name":"backstepping control","score":0.9990000128746033},{"id":"https://openalex.org/keywords/marine-vehicles","display_name":"marine vehicles","score":0.9760000109672546},{"id":"https://openalex.org/keywords/actuator-saturation","display_name":"actuator saturation","score":0.9950000047683716},{"id":"https://openalex.org/keywords/domain-of-attraction","display_name":"domain of attraction","score":0.8190000057220459},{"id":"https://openalex.org/keywords/global-asymptotic-stability","display_name":"global asymptotic stability","score":0.9049999713897705},{"id":"https://openalex.org/keywords/high-gain-feedback","display_name":"high-gain feedback","score":0.7789999842643738},{"id":"https://openalex.org/keywords/disturbance-rejection","display_name":"disturbance rejection","score":0.9629999995231628},{"id":"https://openalex.org/keywords/closed-loop-response","display_name":"closed-loop response","score":0.5920000076293945}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9919121861457825},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8189958333969116},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7000027298927307},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6339426636695862},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5290652513504028},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5101704597473145},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.494568794965744},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.474984347820282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4705051779747009},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46502184867858887},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3354005813598633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3298408091068268},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2500167489051819},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.22505396604537964},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.15848663449287415},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11329349875450134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07264527678489685},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2007.4460414","doi":"https://doi.org/10.1109/iecon.2007.4460414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2007.4460414","pdf_url":null,"source":{"id":"https://openalex.org/S4210172894","display_name":"Annual Conference of the IEEE Industrial Electronics Society (IECON)","issn_l":"1553-572X","issn":["1553-572X","2577-1647"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2090167557","https://openalex.org/W2096238109","https://openalex.org/W2123998235","https://openalex.org/W2134847786","https://openalex.org/W2145871204","https://openalex.org/W2150284897","https://openalex.org/W2150797191","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W2113102817","https://openalex.org/W2897664261","https://openalex.org/W1485963122","https://openalex.org/W4390456157","https://openalex.org/W3027920945","https://openalex.org/W1164092848","https://openalex.org/W2380134367","https://openalex.org/W3216219127","https://openalex.org/W2793312849","https://openalex.org/W2051186979"],"abstract_inverted_index":{"A":[0,74],"backstepping":[1,13,44,54,86],"control":[2],"design":[3],"for":[4,51,66],"marine":[5],"vehicles":[6],"was":[7],"described":[8],"in":[9,39],"[2].":[10],"Under":[11],"a":[12,43,52],"feedback":[14,45,55,87],"law,":[15,56],"global":[16],"asymptotic":[17],"stability":[18],"of":[19,29,42,59,62,101,104],"the":[20,27,35,40,60,67,84,99,102,108],"closed-loop":[21,69,111],"system":[22,70],"can":[23],"be":[24],"shown":[25,95],"under":[26,71],"assumption":[28],"unlimited":[30],"actuation.":[31],"This":[32,89],"paper":[33],"addresses":[34],"issues":[36],"that":[37],"arise":[38],"implementation":[41],"law":[46],"by":[47],"saturating":[48],"actuators.":[49],"First,":[50],"given":[53,65],"an":[57],"estimate":[58,100],"domain":[61,103],"attraction":[63,105],"is":[64,78,94],"resulting":[68],"actuator":[72],"saturation.":[73],"high":[75,91],"gain":[76,92],"component":[77,93],"then":[79],"constructed":[80],"and":[81,113],"augmented":[82],"to":[83,97,114],"original":[85],"law.":[88],"additional":[90],"not":[96],"shrink":[98],"but":[106],"possess":[107],"ability":[109],"improve":[110],"response":[112],"reject":[115],"disturbance.":[116]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-11-30T00:00:00"}