{"id":"https://openalex.org/W4408154802","doi":"https://doi.org/10.1080/21642583.2025.2469598","title":"Fault-tolerant model predictive control for unmanned surface vehicles","display_name":"Fault-tolerant model predictive control for unmanned surface vehicles","publication_year":2025,"publication_date":"2025-03-04","ids":{"openalex":"https://openalex.org/W4408154802","doi":"https://doi.org/10.1080/21642583.2025.2469598"},"language":"en","primary_location":{"id":"doi:10.1080/21642583.2025.2469598","doi":"https://doi.org/10.1080/21642583.2025.2469598","is_oa":true,"landing_page_url":"https://doi.org/10.1080/21642583.2025.2469598","pdf_url":null,"source":{"id":"https://openalex.org/S2506060491","display_name":"Systems Science & Control Engineering","issn_l":"2164-2583","issn":["2164-2583"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-b","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Systems Science & Control Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1080/21642583.2025.2469598","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066082129","display_name":"Tahiyatul Asfihani","orcid":"https://orcid.org/0009-0002-1711-0241","observed_orcids":["https://orcid.org/0009-0002-1711-0241"]},"institutions":[{"id":"https://openalex.org/I166843116","display_name":"Institut Teknologi Sepuluh Nopember","ror":"https://ror.org/05kbmmt89","country_code":"ID","type":"education","lineage":["https://openalex.org/I166843116"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Tahiyatul Asfihani","raw_affiliation_strings":["Institut Teknologi Sepuluh Nopember","Department of Mathematics, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut Teknologi Sepuluh Nopember","institution_ids":["https://openalex.org/I166843116"]},{"raw_affiliation_string":"Department of Mathematics, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia","institution_ids":["https://openalex.org/I166843116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022361787","display_name":"Ahmad Maulana Syafii","orcid":"https://orcid.org/0009-0000-7989-5588","observed_orcids":["https://orcid.org/0009-0000-7989-5588"]},"institutions":[{"id":"https://openalex.org/I4405257512","display_name":"Universitas Islam Negeri Sultan Aji Muhammad Idris Samarinda","ror":"https://ror.org/05bkmv847","country_code":"ID","type":"education","lineage":["https://openalex.org/I4405257512"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Ahmad Maulana Syafi'i","raw_affiliation_strings":["UIN Sultan Aji Muhammad Idris Samarinda","Department of Mathematics Education, UIN Sultan Aji Muhammad Idris Samarinda, Samarinda, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UIN Sultan Aji Muhammad Idris Samarinda","institution_ids":["https://openalex.org/I4405257512"]},{"raw_affiliation_string":"Department of Mathematics Education, UIN Sultan Aji Muhammad Idris Samarinda, Samarinda, Indonesia","institution_ids":["https://openalex.org/I4405257512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002955400","display_name":"Agus Hasan","orcid":"https://orcid.org/0000-0003-1434-2696","observed_orcids":["https://orcid.org/0000-0003-1434-2696"]},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Agus Hasan","raw_affiliation_strings":["Norwegian University of Science and Technology","Department of ICT and Natural Sciences, Norwegian University of Science and Technology, Alesund, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Department of ICT and Natural Sciences, Norwegian University of Science and Technology, Alesund, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002955400"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":{"value":950,"currency":"GBP","value_usd":1165},"apc_paid":{"value":950,"currency":"GBP","value_usd":1165},"fwci":5.3702,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.96560699,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"13","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8101000189781189,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.8101000189781189,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.09679999947547913,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.01600000075995922,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/fault-tolerant-control","display_name":"fault-tolerant control","score":0.9860000014305115},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"model predictive control","score":0.9789999723434448},{"id":"https://openalex.org/keywords/unmanned-surface-vessels","display_name":"unmanned surface vehicles","score":0.9980000257492065},{"id":"https://openalex.org/keywords/actuator-faults","display_name":"actuator faults","score":0.9890000224113464},{"id":"https://openalex.org/keywords/adaptive-kalman-filter","display_name":"adaptive Kalman filter","score":0.9990000128746033},{"id":"https://openalex.org/keywords/forgetting-factor","display_name":"forgetting factor","score":0.972000002861023},{"id":"https://openalex.org/keywords/fault-parameter-estimation","display_name":"fault parameter estimation","score":0.8240000009536743},{"id":"https://openalex.org/keywords/robust-control","display_name":"robust control","score":0.5740000009536743}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5984565615653992},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.46815183758735657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4431363046169281},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43300509452819824},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4237516522407532},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3384981155395508},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3371121287345886},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3261561691761017},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.23726963996887207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20404094457626343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1968192458152771},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/21642583.2025.2469598","doi":"https://doi.org/10.1080/21642583.2025.2469598","is_oa":true,"landing_page_url":"https://doi.org/10.1080/21642583.2025.2469598","pdf_url":null,"source":{"id":"https://openalex.org/S2506060491","display_name":"Systems Science & Control Engineering","issn_l":"2164-2583","issn":["2164-2583"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-b","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Systems Science & Control Engineering","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:085db879d2114ff28fd65f489d053c9f","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/085db879d2114ff28fd65f489d053c9f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Systems Science & Control Engineering, Vol 13, Iss 1 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1080/21642583.2025.2469598","doi":"https://doi.org/10.1080/21642583.2025.2469598","is_oa":true,"landing_page_url":"https://doi.org/10.1080/21642583.2025.2469598","pdf_url":null,"source":{"id":"https://openalex.org/S2506060491","display_name":"Systems Science & Control Engineering","issn_l":"2164-2583","issn":["2164-2583"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-b","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Systems Science & Control Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G2429435981","display_name":null,"funder_award_id":"WCP-Like program 2023","funder_id":"https://openalex.org/F4320327937","funder_display_name":"Institut Teknologi Sepuluh Nopember"}],"funders":[{"id":"https://openalex.org/F4320327937","display_name":"Institut Teknologi Sepuluh Nopember","ror":"https://ror.org/05kbmmt89"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1969695193","https://openalex.org/W2006608363","https://openalex.org/W2083111050","https://openalex.org/W2158285907","https://openalex.org/W2794852478","https://openalex.org/W2944567003","https://openalex.org/W2981965220","https://openalex.org/W3016204110","https://openalex.org/W3045593229","https://openalex.org/W3084249491","https://openalex.org/W3091048052","https://openalex.org/W3118409872","https://openalex.org/W3124582657","https://openalex.org/W3211067544","https://openalex.org/W4206963569","https://openalex.org/W4211147054","https://openalex.org/W4220954997","https://openalex.org/W4285820259","https://openalex.org/W4399265004","https://openalex.org/W4400944183"],"related_works":["https://openalex.org/W2205398082","https://openalex.org/W7223339267","https://openalex.org/W4210454458","https://openalex.org/W6903497871","https://openalex.org/W4404884208","https://openalex.org/W7167255445","https://openalex.org/W4415725115","https://openalex.org/W4414865334","https://openalex.org/W4409301637","https://openalex.org/W1544238808"],"abstract_inverted_index":{"Unmanned":[0],"surface":[1],"vehicles":[2],"(USVs)":[3],"require":[4],"robust":[5],"control":[6,33,80,101,168],"systems":[7,169],"capable":[8],"of":[9,35,67,98,131,157,166],"adeptly":[10],"compensating":[11],"for":[12,31,162],"potential":[13],"faults":[14,92,138],"to":[15,57,61,88,112,146],"ensure":[16,147],"operational":[17,148],"safety":[18],"and":[19,119,150],"successful":[20],"task":[21,151],"execution.":[22],"Addressing":[23],"this":[24],"requirement,":[25],"we":[26,127],"present":[27],"a":[28,43,47,74],"novel":[29],"approach":[30,63],"computing":[32],"inputs":[34],"USVs":[36],"under":[37],"fault-prone":[38],"conditions.":[39],"Our":[40],"method":[41,87,134],"leverages":[42],"mathematical":[44],"model,":[45],"specifically":[46],"linear":[48],"stochastic":[49,116],"discrete-time":[50],"model":[51,78,118],"that":[52],"characterizes":[53],"the":[54,65,94,106,109,115,120,129,155,164],"USV":[55,167],"subject":[56],"actuator":[58,91,121,137],"faults.":[59],"Central":[60],"our":[62,85,99,132],"is":[64],"integration":[66],"an":[68],"adaptive":[69],"Kalman":[70],"filter":[71],"(AKF)":[72],"with":[73],"forgetting":[75],"factor":[76],"into":[77],"predictive":[79],"(MPC).":[81],"This":[82],"fusion":[83],"enables":[84],"proposed":[86,133],"effectively":[89],"manage":[90],"on":[93,139],"USVs.":[95,140],"The":[96,141],"essence":[97],"fault-tolerant":[100],"strategy":[102],"lies":[103],"in":[104,135,154,170],"utilizing":[105],"AKF":[107],"within":[108],"MPC":[110],"framework":[111],"predict":[113],"both":[114],"system":[117],"fault":[122],"parameters.":[123],"Through":[124],"rigorous":[125],"evaluation,":[126],"demonstrate":[128],"effectiveness":[130],"managing":[136],"results":[142],"highlight":[143],"its":[144,160],"capacity":[145],"continuity":[149],"completion":[152],"even":[153],"presence":[156],"faults,":[158],"demonstrating":[159],"significance":[161],"enhancing":[163],"resilience":[165],"real-world":[171],"scenarios.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":2}],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2025-03-05T00:00:00"}