{"id":"https://openalex.org/W7136259048","doi":"https://doi.org/10.1007/s00521-026-11857-y","title":"Adaptive NN trajectory tracking control for underwater tracked robot with unknown slipping and nonsymmetric input saturation","display_name":"Adaptive NN trajectory tracking control for underwater tracked robot with unknown slipping and nonsymmetric input saturation","publication_year":2026,"publication_date":"2026-03-01","ids":{"openalex":"https://openalex.org/W7136259048","doi":"https://doi.org/10.1007/s00521-026-11857-y"},"language":"en","primary_location":{"id":"doi:10.1007/s00521-026-11857-y","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00521-026-11857-y","pdf_url":null,"source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","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":"https://openalex.org/A5129471812","display_name":"Jian Li","orcid":null},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Li","raw_affiliation_strings":["College of Electrical Engineering, Liaoning University of Technology, Shiying, Jinzhou, 121001, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Liaoning University of Technology, Shiying, Jinzhou, 121001, Liaoning, China","institution_ids":["https://openalex.org/I2898894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129407174","display_name":"Kelin Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kelin Feng","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Linghai, Dalian, 116026, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Linghai, Dalian, 116026, Liaoning, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121731800","display_name":"Kewen Li","orcid":null},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kewen Li","raw_affiliation_strings":["College of Science, Liaoning University of Technology, Shiying, Jinzhou, 121001, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"College of Science, Liaoning University of Technology, Shiying, Jinzhou, 121001, Liaoning, China","institution_ids":["https://openalex.org/I2898894"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100345767","display_name":"Yu Li","orcid":"https://orcid.org/0000-0002-4260-1870"},"institutions":[{"id":"https://openalex.org/I2898894","display_name":"Liaoning University of Technology","ror":"https://ror.org/05ay23762","country_code":"CN","type":"education","lineage":["https://openalex.org/I2898894"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongming Li","raw_affiliation_strings":["College of Science, Liaoning University of Technology, Shiying, Jinzhou, 121001, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"College of Science, Liaoning University of Technology, Shiying, Jinzhou, 121001, Liaoning, China","institution_ids":["https://openalex.org/I2898894"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100345767"],"corresponding_institution_ids":["https://openalex.org/I2898894"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.90195153,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":"6","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9587000012397766,"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":0.9587000012397766,"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":0.010200000368058681,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.003599999938160181,"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","display_name":"Backstepping","score":0.8580999970436096},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7190999984741211},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6205000281333923},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.5491999983787537},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5480999946594238},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5346999764442444},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5260999798774719},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5045999884605408},{"id":"https://openalex.org/keywords/radial-basis-function","display_name":"Radial basis function","score":0.40860000252723694}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8580999970436096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7190999984741211},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7070000171661377},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6205000281333923},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.5491999983787537},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5480999946594238},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5346999764442444},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5260999798774719},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5045999884605408},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.40860000252723694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4059999883174896},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.3912999927997589},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.388700008392334},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3497999906539917},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.33410000801086426},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31790000200271606},{"id":"https://openalex.org/C68597687","wikidata":"https://www.wikidata.org/wiki/Q362601","display_name":"Computational Science and Engineering","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29269999265670776},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.28949999809265137},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.288100004196167},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26350000500679016},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s00521-026-11857-y","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00521-026-11857-y","pdf_url":null,"source":{"id":"https://openalex.org/S147897268","display_name":"Neural Computing and Applications","issn_l":"0941-0643","issn":["0941-0643","1433-3058"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neural Computing and Applications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7595679759979248,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1709865076","https://openalex.org/W1968979564","https://openalex.org/W1978639351","https://openalex.org/W1983977795","https://openalex.org/W2005943535","https://openalex.org/W2028583686","https://openalex.org/W2057423886","https://openalex.org/W2069612046","https://openalex.org/W2084489972","https://openalex.org/W2133066324","https://openalex.org/W2147600827","https://openalex.org/W2150535417","https://openalex.org/W2155675828","https://openalex.org/W2156551348","https://openalex.org/W2166114934","https://openalex.org/W2172270388","https://openalex.org/W2332899049","https://openalex.org/W2771566166","https://openalex.org/W2792338883","https://openalex.org/W2898717183","https://openalex.org/W2960146582","https://openalex.org/W2991482823","https://openalex.org/W3014106663","https://openalex.org/W3124444594","https://openalex.org/W3216633780","https://openalex.org/W4361211774","https://openalex.org/W4407735903"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-03-18T06:27:02.140700","created_date":"2026-03-17T00:00:00"}