{"id":"https://openalex.org/W2233024805","doi":"https://doi.org/10.1007/978-3-319-24264-4_12","title":"Trajectory Tracking Control for Underactuated Surface Vessels Based on Nonlinear Model Predictive Control","display_name":"Trajectory Tracking Control for Underactuated Surface Vessels Based on Nonlinear Model Predictive Control","publication_year":2015,"publication_date":"2015-01-01","ids":{"openalex":"https://openalex.org/W2233024805","doi":"https://doi.org/10.1007/978-3-319-24264-4_12","mag":"2233024805"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-24264-4_12","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-24264-4_12","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","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/A5060244137","display_name":"Chenguang Liu","orcid":"https://orcid.org/0000-0002-4130-1243"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenguang Liu","raw_affiliation_strings":["Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","School of Energy and Power Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Energy and Power Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016258794","display_name":"Huarong Zheng","orcid":"https://orcid.org/0000-0003-3155-6792"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Huarong Zheng","raw_affiliation_strings":["Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068318450","display_name":"Rudy R. Negenborn","orcid":"https://orcid.org/0000-0001-9784-1225"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Rudy R. Negenborn","raw_affiliation_strings":["Delft University of Technology, Delft, The Netherlands","Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110601899","display_name":"Xiumin Chu","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiumin Chu","raw_affiliation_strings":["Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107956335","display_name":"Le Wang","orcid":"https://orcid.org/0009-0005-6293-9296"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Wang","raw_affiliation_strings":["Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","School of Logistics Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","School of Logistics Engineering, Wuhan University of Technology, Wuhan, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Logistics Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Logistics Engineering, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5060244137"],"corresponding_institution_ids":["https://openalex.org/I196699116"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":5.9563,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96199155,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"166","last_page":"180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9932000041007996,"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":0.9902999997138977,"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/underactuation","display_name":"Underactuation","score":0.896937370300293},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.796384334564209},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7767131328582764},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6780669689178467},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6536881923675537},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5806913375854492},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5781106948852539},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.5285733342170715},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5135498046875},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.4590514898300171},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41306254267692566},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2902359366416931},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1742953658103943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17412689328193665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09333127737045288}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.896937370300293},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.796384334564209},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7767131328582764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6780669689178467},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6536881923675537},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5806913375854492},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5781106948852539},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.5285733342170715},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5135498046875},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4590514898300171},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41306254267692566},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2902359366416931},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1742953658103943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17412689328193665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09333127737045288},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-319-24264-4_12","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-24264-4_12","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1945241717","https://openalex.org/W1974854420","https://openalex.org/W1981320111","https://openalex.org/W2064052574","https://openalex.org/W2095555102","https://openalex.org/W2096190555","https://openalex.org/W2113072005","https://openalex.org/W2118081656","https://openalex.org/W2123045548","https://openalex.org/W2124659043","https://openalex.org/W2138133265","https://openalex.org/W2478761517","https://openalex.org/W2492811885","https://openalex.org/W3026829485"],"related_works":["https://openalex.org/W2371136327","https://openalex.org/W4293234107","https://openalex.org/W2370549269","https://openalex.org/W2386824811","https://openalex.org/W2354618530","https://openalex.org/W2081226903","https://openalex.org/W2363452175","https://openalex.org/W2375225935","https://openalex.org/W2542179972","https://openalex.org/W2131998656"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}