{"id":"https://openalex.org/W4414589714","doi":"https://doi.org/10.1002/rob.70070","title":"Distributed Fixed\u2010Time Event\u2010Triggered Formation Consensus Control for Multiple AUV System Based on RBF Disturbance Observer","display_name":"Distributed Fixed\u2010Time Event\u2010Triggered Formation Consensus Control for Multiple AUV System Based on RBF Disturbance Observer","publication_year":2025,"publication_date":"2025-09-12","ids":{"openalex":"https://openalex.org/W4414589714","doi":"https://doi.org/10.1002/rob.70070"},"language":"en","primary_location":{"id":"doi:10.1002/rob.70070","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70070","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"},"type":"article","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":null,"display_name":"Yingxuan Wang","orcid":"https://orcid.org/0009-0003-7160-2877"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxuan Wang","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0003-7160-2877","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110952366","display_name":"Zhuo Wang","orcid":"https://orcid.org/0000-0003-3036-1344"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhuo Wang","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076687329","display_name":"Hongde Qin","orcid":"https://orcid.org/0000-0002-9794-4491"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongde Qin","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027534409","display_name":"Yifan Xue","orcid":"https://orcid.org/0000-0001-7178-3442"},"institutions":[{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]},{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Xue","raw_affiliation_strings":["Qingdao Innovation and Development Base Harbin Engineering University Qingdao China","Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qingdao Innovation and Development Base Harbin Engineering University Qingdao China","institution_ids":["https://openalex.org/I4210161003","https://openalex.org/I108688024"]},{"raw_affiliation_string":"Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028027471","display_name":"Hai Huang","orcid":"https://orcid.org/0000-0001-7764-0442"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai Huang","raw_affiliation_strings":["National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5076687329","https://openalex.org/A5110952366"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":4430,"currency":"USD","value_usd":4430},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28107855,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"2","first_page":"879","last_page":"898"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.9980999827384949,"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/backstepping","display_name":"Backstepping","score":0.810699999332428},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8022000193595886},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.60589998960495},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5860000252723694},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5023000240325928},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4973999857902527},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4650999903678894},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.37880000472068787}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.810699999332428},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8022000193595886},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.60589998960495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5999000072479248},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5860000252723694},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5023000240325928},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4973999857902527},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4871000051498413},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4650999903678894},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.34049999713897705},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3391999900341034},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.3167000114917755},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3127000033855438},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3111000061035156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28290000557899475},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.2542000114917755},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.70070","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.70070","pdf_url":null,"source":{"id":"https://openalex.org/S151299380","display_name":"Journal of Field Robotics","issn_l":"1556-4959","issn":["1556-4959","1556-4967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Field Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1973578767","https://openalex.org/W2000201135","https://openalex.org/W2015113370","https://openalex.org/W2125838011","https://openalex.org/W2168097327","https://openalex.org/W2175091750","https://openalex.org/W2792882341","https://openalex.org/W2799616674","https://openalex.org/W2922209893","https://openalex.org/W2927173594","https://openalex.org/W2949265332","https://openalex.org/W2949563889","https://openalex.org/W2983917832","https://openalex.org/W3096656822","https://openalex.org/W3118672595","https://openalex.org/W3124521735","https://openalex.org/W3135202214","https://openalex.org/W3171272517","https://openalex.org/W3172170153","https://openalex.org/W3202634021","https://openalex.org/W4220978143","https://openalex.org/W4285133572","https://openalex.org/W4308432228","https://openalex.org/W4312683547","https://openalex.org/W4313038926","https://openalex.org/W4315567653","https://openalex.org/W4365140218","https://openalex.org/W4385423593","https://openalex.org/W4386441616","https://openalex.org/W4388478245","https://openalex.org/W4391991556"],"related_works":[],"abstract_inverted_index":{"ABSTRACT":[0],"To":[1],"address":[2,109],"the":[3,13,19,28,31,36,54,59,63,88,93,110,114,125,142,149,153,161,164,172,175,180],"challenges":[4],"of":[5,18,58,127,163,174],"marine":[6],"emergency":[7],"rescue":[8],"missions,":[9],"this":[10],"paper":[11],"investigates":[12],"fixed\u2010time":[14,43,70,103],"consensus":[15,165],"control":[16,73,90,135],"problem":[17],"multiple":[20],"autonomous":[21],"underwater":[22],"vehicle":[23],"systems":[24],"(MAUVS)":[25],"subjected":[26],"to":[27,51,86,108,123],"system":[29],"uncertainties,":[30],"nonlinear":[32],"external":[33,64],"disturbances,":[34],"and":[35,62,80,91,130,148],"limited":[37],"computational":[38,131],"resources.":[39],"First,":[40],"a":[41,81,97,101,157],"novel":[42,102],"radial":[44],"basis":[45],"function":[46],"disturbance":[47],"observer":[48],"is":[49,84,106,121,167,177],"developed":[50],"deal":[52],"with":[53],"lumped":[55],"disturbances":[56],"composed":[57],"dynamic":[60],"uncertainties":[61],"ocean":[65],"disturbances.":[66],"Subsequently,":[67],"an":[68,118],"adaptive":[69],"event\u2010triggered":[71,119],"distributed":[72],"scheme":[74,176],"based":[75],"on":[76],"command":[77],"filter":[78,115],"backstepping":[79],"compensation":[82,104],"mechanism":[83,120],"proposed":[85],"achieve":[87],"precise":[89],"ensure":[92],"formation":[94,154],"converge":[95],"within":[96,156],"fixed":[98,158],"time.":[99,159],"Furthermore,":[100,171],"signal":[105],"introduced":[107],"potential":[111],"errors":[112],"from":[113],"process.":[116],"Additionally,":[117],"employed":[122],"reduce":[124],"number":[126],"controller":[128,166],"updates":[129],"consumption":[132],"while":[133],"maintaining":[134],"performance.":[136],"Theoretical":[137],"analysis":[138],"clearly":[139],"demonstrates":[140],"that":[141],"Zeno":[143],"behavior":[144],"can":[145,151],"be":[146],"excluded,":[147],"MAUVS":[150],"complete":[152],"task":[155],"Finally,":[160],"effectiveness":[162],"validated":[168],"through":[169,179],"simulations.":[170],"applicability":[173],"verified":[178],"pool":[181],"experiment.":[182]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}