{"id":"https://openalex.org/W2099378113","doi":"https://doi.org/10.1109/acc.2002.1024821","title":"Robust global stabilization of underactuated ships on a linear course","display_name":"Robust global stabilization of underactuated ships on a linear course","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2099378113","doi":"https://doi.org/10.1109/acc.2002.1024821","mag":"2099378113"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2002.1024821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2002.1024821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5031954514","display_name":"K.D. Do","orcid":"https://orcid.org/0000-0002-8167-7675"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"K.D. Do","raw_affiliation_strings":["Department of Mechanical and Materials Engineering, University of Western Australia, Nedlands, WA, Australia","Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, University of Western Australia, Nedlands, WA, Australia","institution_ids":["https://openalex.org/I177877127"]},{"raw_affiliation_string":"Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067046312","display_name":"Zhong\u2010Ping Jiang","orcid":"https://orcid.org/0000-0002-4868-9359"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]},{"id":"https://openalex.org/I90965887","display_name":"SUNY Polytechnic Institute","ror":"https://ror.org/000fxgx19","country_code":"US","type":"education","lineage":["https://openalex.org/I90965887"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z.P. Jiang","raw_affiliation_strings":["Deparhnent of Electrical and Computer Engineering, Polytechnic University, Brooklyn, NY, USA","[Deparhnent of Electrical and Computer Engineering, Polytechnic University, Brooklyn, NY, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deparhnent of Electrical and Computer Engineering, Polytechnic University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I90965887"]},{"raw_affiliation_string":"[Deparhnent of Electrical and Computer Engineering, Polytechnic University, Brooklyn, NY, USA]","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101905201","display_name":"J. Pan","orcid":"https://orcid.org/0009-0008-0567-7957"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"J. Pan","raw_affiliation_strings":["Department of Mechanical and Materials Engineering, University of Western Australia, Nedlands, WA, Australia","[Department of Mechanical and Materials Engineering, University of Western Australia, Nedlands, WA, Australia]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Materials Engineering, University of Western Australia, Nedlands, WA, Australia","institution_ids":["https://openalex.org/I177877127"]},{"raw_affiliation_string":"[Department of Mechanical and Materials Engineering, University of Western Australia, Nedlands, WA, Australia]","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9747,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.72724505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"304","last_page":"309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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":0.9915000200271606,"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":0.9237637519836426},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8975404500961304},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7466379404067993},{"id":"https://openalex.org/keywords/course","display_name":"Course (navigation)","score":0.6978092193603516},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6306036114692688},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5772281885147095},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5048390030860901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4928746223449707},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45768916606903076},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.45287641882896423},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39021509885787964},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2619171738624573},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.12186360359191895},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11766102910041809},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07538476586341858},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07291162014007568}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9237637519836426},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8975404500961304},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7466379404067993},{"id":"https://openalex.org/C2777552389","wikidata":"https://www.wikidata.org/wiki/Q1962728","display_name":"Course (navigation)","level":2,"score":0.6978092193603516},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6306036114692688},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5772281885147095},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5048390030860901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4928746223449707},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45768916606903076},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.45287641882896423},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39021509885787964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2619171738624573},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.12186360359191895},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11766102910041809},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07538476586341858},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07291162014007568},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2002.1024821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2002.1024821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1551896781","https://openalex.org/W1559327333","https://openalex.org/W1569284626","https://openalex.org/W1590684588","https://openalex.org/W1596558867","https://openalex.org/W1650369171","https://openalex.org/W1974689472","https://openalex.org/W1977808185","https://openalex.org/W2090167557","https://openalex.org/W2101876384","https://openalex.org/W2102620728","https://openalex.org/W2108268696","https://openalex.org/W2120307421","https://openalex.org/W2123691417","https://openalex.org/W2143192781","https://openalex.org/W2148974871","https://openalex.org/W2154273141","https://openalex.org/W2162672892","https://openalex.org/W2563494494","https://openalex.org/W2620356889","https://openalex.org/W3160954918","https://openalex.org/W4292872153","https://openalex.org/W6634129303","https://openalex.org/W6676092278","https://openalex.org/W6738461181"],"related_works":["https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W2369318130","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W4387960131","https://openalex.org/W4313405128"],"abstract_inverted_index":{"Develops":[0],"a":[1,13,41,50],"state":[2],"feedback":[3],"controller":[4],"that":[5],"forces":[6],"underactuated":[7],"ships":[8],"to":[9,57],"globally":[10],"ultimately":[11],"track":[12],"straight":[14],"line":[15],"under":[16],"environmental":[17],"disturbances":[18],"induced":[19],"by":[20],"wave,":[21],"wind":[22],"and":[23,35],"ocean":[24],"current.":[25],"The":[26],"control":[27],"development":[28],"is":[29],"based":[30],"on":[31,49],"the":[32,59],"backstepping":[33],"technique":[34],"some":[36],"technical":[37],"lemmas":[38],"introduced":[39],"for":[40],"nonlinear":[42],"system":[43],"with":[44],"non-vanishing":[45],"disturbances.":[46],"Simulation":[47],"results":[48],"32":[51],"m":[52],"long":[53],"ship":[54],"are":[55],"presented":[56],"validate":[58],"proposed":[60],"controller.":[61]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}