{"id":"https://openalex.org/W7204870484","doi":"https://doi.org/10.1016/j.apor.2026.105231","title":"Adaptive Nonlinear Terminal Sliding Mode Control for underactuated USV path following under ocean disturbances","display_name":"Adaptive Nonlinear Terminal Sliding Mode Control for underactuated USV path following under ocean disturbances","publication_year":2026,"publication_date":"2026-09-01","ids":{"openalex":"https://openalex.org/W7204870484","doi":"https://doi.org/10.1016/j.apor.2026.105231"},"language":"en","primary_location":{"id":"doi:10.1016/j.apor.2026.105231","doi":"https://doi.org/10.1016/j.apor.2026.105231","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.apor.2026.105231","pdf_url":"https://www.sciencedirect.com/science/article/pii/S0141118726003147/pdf","source":{"id":"https://openalex.org/S19503097","display_name":"Applied Ocean Research","issn_l":"0141-1187","issn":["0141-1187","1879-1549"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","dongbi-c","jufo-1","ki-jl-1","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Ocean Research","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.sciencedirect.com/science/article/pii/S0141118726003147/pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111101852","display_name":"Muhayy Din","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Muhayy Ud Din","raw_affiliation_strings":["KU Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009589766","display_name":"Waseem Akram","orcid":"https://orcid.org/0000-0002-7401-5120","observed_orcids":["https://orcid.org/0000-0002-7401-5120"]},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]},{"id":"https://openalex.org/I4390039327","display_name":"Faculty of Electrical Engineering and Computing in Zagreb","ror":"https://ror.org/04e90ca47","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428","https://openalex.org/I4390039327"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Waseem Akram","raw_affiliation_strings":["University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies (LABUST), Unska 3, Zagreb, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies (LABUST), Unska 3, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428","https://openalex.org/I4390039327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5148897261","display_name":"Irfan Hussain","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Irfan Hussain","raw_affiliation_strings":["KU Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5148897261"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":{"value":2950,"currency":"USD","value_usd":2950},"apc_paid":{"value":2950,"currency":"USD","value_usd":2950},"fwci":2.481,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92555841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":"175","issue":null,"first_page":"105231","last_page":"105231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.483599990606308,"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":0.483599990606308,"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":0.37400001287460327,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.0803999975323677,"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/adaptive-control","display_name":"adaptive control","score":0.8220000267028809},{"id":"https://openalex.org/keywords/unmanned-surface-vessels","display_name":"unmanned surface vehicles","score":0.8759999871253967},{"id":"https://openalex.org/keywords/path-following","display_name":"path following","score":0.9800000190734863},{"id":"https://openalex.org/keywords/ocean-disturbances","display_name":"ocean disturbances","score":0.9369999766349792},{"id":"https://openalex.org/keywords/robust-control","display_name":"robust control","score":0.4659999907016754}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8592000007629395},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8224999904632568},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6349999904632568},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5751000046730042},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5407999753952026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5254999995231628},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5034999847412109},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.47029998898506165},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4140999913215637},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3939000070095062},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3666999936103821},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.31310001015663147},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.31279999017715454},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3118000030517578},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2874999940395355},{"id":"https://openalex.org/C63840607","wikidata":"https://www.wikidata.org/wiki/Q1236263","display_name":"Dead zone","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.26750001311302185}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.apor.2026.105231","doi":"https://doi.org/10.1016/j.apor.2026.105231","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.apor.2026.105231","pdf_url":"https://www.sciencedirect.com/science/article/pii/S0141118726003147/pdf","source":{"id":"https://openalex.org/S19503097","display_name":"Applied Ocean Research","issn_l":"0141-1187","issn":["0141-1187","1879-1549"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","dongbi-c","jufo-1","ki-jl-1","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Ocean Research","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.apor.2026.105231","doi":"https://doi.org/10.1016/j.apor.2026.105231","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.apor.2026.105231","pdf_url":"https://www.sciencedirect.com/science/article/pii/S0141118726003147/pdf","source":{"id":"https://openalex.org/S19503097","display_name":"Applied Ocean Research","issn_l":"0141-1187","issn":["0141-1187","1879-1549"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","dongbi-c","jufo-1","ki-jl-1","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Ocean Research","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G3521245760","display_name":null,"funder_award_id":"RC1-2018-KUCARS-8474000136","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G4110894457","display_name":null,"funder_award_id":"KF-DFL award- 8475000016","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G670722723","display_name":null,"funder_award_id":"8475000016","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"},{"id":"https://openalex.org/G836516385","display_name":null,"funder_award_id":"MBZIRC-8434000194","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"}],"funders":[{"id":"https://openalex.org/F4320322334","display_name":"Khalifa University of Science, Technology and Research","ror":"https://ror.org/05hffr360"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7204870484.pdf","grobid_xml":"https://content.openalex.org/works/W7204870484.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W130364663","https://openalex.org/W1944029014","https://openalex.org/W2069550312","https://openalex.org/W2097696157","https://openalex.org/W2110702780","https://openalex.org/W2478761517","https://openalex.org/W3023077548","https://openalex.org/W3119724227","https://openalex.org/W3160492303","https://openalex.org/W3171128313","https://openalex.org/W3212184862","https://openalex.org/W4220689297","https://openalex.org/W4226073364","https://openalex.org/W4288781480","https://openalex.org/W4321021722","https://openalex.org/W4361803821","https://openalex.org/W4362704204","https://openalex.org/W4384895363","https://openalex.org/W4386517122","https://openalex.org/W4389960948","https://openalex.org/W4407783193","https://openalex.org/W7117608954"],"related_works":["https://openalex.org/W3189030920","https://openalex.org/W2806460019","https://openalex.org/W927942634","https://openalex.org/W2906085673","https://openalex.org/W2980823072","https://openalex.org/W4220998507","https://openalex.org/W2905850431","https://openalex.org/W4410441512","https://openalex.org/W7215870546","https://openalex.org/W4230136046"],"abstract_inverted_index":{"Unmanned":[0],"Surface":[1],"Vehicles":[2],"(USVs)":[3],"are":[4],"increasingly":[5],"deployed":[6],"in":[7,24],"ocean":[8,26],"engineering":[9],"applications":[10],"such":[11],"as":[12,150],"hydrographic":[13],"surveying,":[14],"environmental":[15,35,151],"monitoring,":[16],"and":[17,37,68,85,112,117,128,167,209],"maritime":[18,185],"security.":[19],"Achieving":[20],"accurate":[21,192],"path":[22,115,197],"following":[23],"realistic":[25,125],"environments":[27],"remains":[28],"challenging":[29],"due":[30],"to":[31,65,140],"nonlinear":[32,76],"vessel":[33],"dynamics,":[34],"disturbances,":[36],"underactuation":[38],"arising":[39],"from":[40],"the":[41,158,173,182,216,225],"absence":[42],"of":[43,190],"direct":[44],"sway":[45],"control.":[46],"This":[47],"paper":[48],"proposes":[49],"an":[50],"Adaptive":[51],"Nonlinear":[52],"Terminal":[53],"Sliding":[54],"Mode":[55],"Controller":[56],"(ANTSMC)":[57],"for":[58,124],"a":[59,74,81,86,96,200],"three-degree-of-freedom":[60],"(3-DOF)":[61],"underactuated":[62],"USV":[63],"subject":[64],"wind,":[66],"wave,":[67],"current":[69],"disturbances.":[70],"The":[71,131,212],"controller":[72],"integrates":[73],"regularised":[75],"terminal":[77],"sliding":[78],"surface":[79],"with":[80],"power-rate":[82],"reaching":[83],"law":[84],"leakage-regulated":[87],"adaptive":[88],"switching":[89],"gain":[90],"that":[91,134,215],"adjusts":[92],"robustness":[93,149,205],"online":[94],"without":[95],"disturbance":[97,175,210],"observer.":[98],"A":[99],"benchmark":[100],"evaluation":[101],"was":[102],"conducted":[103],"across":[104,195],"six":[105],"controllers":[106],"(LQR,":[107],"SMC,":[108],"ASMC,":[109],"ADRC,":[110],"FNTSMC,":[111],"ANTSMC),":[113],"four":[114],"geometries,":[116],"three":[118],"WMO":[119],"sea":[120,144],"states":[121],"while":[122,146],"accounting":[123],"sensor":[126],"noise":[127],"parametric":[129,208],"uncertainty.":[130],"results":[132,213],"show":[133],"ANTSMC":[135,156],"achieves":[136],"cross-track":[137,161],"accuracy":[138],"comparable":[139],"SMC":[141],"under":[142,163,206],"calm":[143],"conditions,":[145,171],"demonstrating":[147],"stronger":[148],"disturbances":[152],"increase.":[153],"In":[154],"particular,":[155],"produces":[157],"lowest":[159],"RMS":[160],"error":[162],"SS":[164,168],"2":[165],"(smooth)":[166],"3":[169],"(slight)":[170],"where":[172],"imposed":[174],"intensity":[176],"is":[177],"higher.":[178],"Independent":[179],"validation":[180],"using":[181],"MBZIRC":[183],"physics-based":[184],"simulator":[186],"provides":[187,220],"additional":[188],"evidence":[189],"bounded,":[191],"path-following":[193,222],"performance":[194,223],"different":[196],"geometries.":[198],"Moreover,":[199],"Monte":[201],"Carlo":[202],"study":[203],"evaluates":[204],"expanded":[207],"uncertainties.":[211],"indicate":[214],"proposed":[217],"observer-free":[218],"framework":[219],"consistent":[221],"over":[224],"tested":[226],"marine":[227],"operating":[228],"conditions.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2026-09-02T00:00:00"}
