{"id":"https://openalex.org/W2111635862","doi":"https://doi.org/10.1109/acc.2009.5159993","title":"Path following of underactuated surface ships","display_name":"Path following of underactuated surface ships","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2111635862","doi":"https://doi.org/10.1109/acc.2009.5159993","mag":"2111635862"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5159993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-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/A5056944705","display_name":"Renxiang Bu","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":true,"raw_author_name":"Renxiang Bu","raw_affiliation_strings":["Faculty of Navigation College, Dalian Maritime University, Dalian, China","Faculty of Navigation College, Dalian Maritime University, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008658957","display_name":"Zhengjiang Liu","orcid":"https://orcid.org/0000-0002-4110-934X"},"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":"Zhengjiang Liu","raw_affiliation_strings":["Faculty of Navigation College, Dalian Maritime University, Dalian, China","Faculty of Navigation College, Dalian Maritime University, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025349097","display_name":"Tieshan Li","orcid":"https://orcid.org/0000-0003-0474-953X"},"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":"Tieshan Li","raw_affiliation_strings":["Faculty of Navigation College, Dalian Maritime University, Dalian, China","Faculty of Navigation College, Dalian Maritime University, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030833789","display_name":"Jiangqiang Hu","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":"Jiangqiang Hu","raw_affiliation_strings":["Faculty of Navigation College, Dalian Maritime University, Dalian, China","Faculty of Navigation College, Dalian Maritime University, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Faculty of Navigation College, Dalian Maritime University, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056944705"],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.10088776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"500","issue":null,"first_page":"751","last_page":"756"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.998199999332428,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rudder","display_name":"Rudder","score":0.9353742599487305},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.840502917766571},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.81273353099823},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6978597640991211},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6951157450675964},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.599534809589386},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5663933157920837},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5567637085914612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49245700240135193},{"id":"https://openalex.org/keywords/hull","display_name":"Hull","score":0.44225701689720154},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4164086580276489},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3472934365272522},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.28423556685447693},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23479503393173218},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2042945921421051},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.1884748935699463},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14563754200935364},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12932053208351135},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08962929248809814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07605293393135071}],"concepts":[{"id":"https://openalex.org/C183776436","wikidata":"https://www.wikidata.org/wiki/Q209760","display_name":"Rudder","level":2,"score":0.9353742599487305},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.840502917766571},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.81273353099823},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6978597640991211},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6951157450675964},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.599534809589386},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5663933157920837},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5567637085914612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49245700240135193},{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.44225701689720154},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4164086580276489},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3472934365272522},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28423556685447693},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23479503393173218},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2042945921421051},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.1884748935699463},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14563754200935364},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12932053208351135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08962929248809814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07605293393135071},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2009.5159993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5159993","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1586853305","https://openalex.org/W1603121482","https://openalex.org/W2001738174","https://openalex.org/W2010956689","https://openalex.org/W2099388669","https://openalex.org/W2106586754","https://openalex.org/W2115504587","https://openalex.org/W2120944681","https://openalex.org/W2123998235","https://openalex.org/W2131727647","https://openalex.org/W2140429331","https://openalex.org/W2154649530","https://openalex.org/W2155273341","https://openalex.org/W2171352605","https://openalex.org/W2563494494","https://openalex.org/W2613993106","https://openalex.org/W2620356889","https://openalex.org/W4240341151","https://openalex.org/W6682814964","https://openalex.org/W6738461181"],"related_works":["https://openalex.org/W4367723667","https://openalex.org/W4280616336","https://openalex.org/W2372834224","https://openalex.org/W2362638902","https://openalex.org/W2313751252","https://openalex.org/W2106586754","https://openalex.org/W1969553787","https://openalex.org/W2036009937","https://openalex.org/W2347322976","https://openalex.org/W4287028639"],"abstract_inverted_index":{"The":[0,25,50,66],"path":[1],"following":[2,52],"problem":[3],"is":[4,19,43,55],"concerned":[5],"for":[6],"conventional":[7],"surface":[8],"ships":[9],"with":[10],"second":[11],"order":[12],"nonholonomic":[13],"constraints.":[14],"A":[15],"nonlinear":[16,90],"feedback":[17],"algorithm":[18],"presented":[20],"using":[21],"decoupling":[22],"control":[23,53],"method.":[24],"cross":[26],"track":[27],"error":[28,31],"and":[29,40,71,73,103],"heading":[30],"are":[32,81,97],"stabilized":[33],"by":[34,62],"means":[35],"of":[36,68,94,105],"the":[37,41,47,74,101,106],"rudder":[38],"alone":[39],"thruster":[42],"left":[44],"to":[45,99],"adjust":[46],"forward":[48],"speed.":[49],"underactuated":[51],"objective":[54],"achieved":[56],"without":[57],"a":[58,63,88],"reference":[59],"orientation":[60],"generated":[61],"ship":[64,92],"model.":[65],"estimation":[67],"systemic":[69],"uncertainties":[70],"disturbances":[72],"yaw":[75],"velocity":[76],"PE":[77],"(persistent":[78],"excitation)":[79],"conditions":[80],"not":[82],"required.":[83],"Computer":[84],"simulation":[85],"results":[86],"on":[87],"full":[89],"hydrodynamic":[91],"model":[93],"M.V.":[95],"YULONG":[96],"provided":[98],"validate":[100],"effectiveness":[102],"robustness":[104],"proposed":[107],"controller.":[108]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}