{"id":"https://openalex.org/W2111229315","doi":"https://doi.org/10.1109/acc.2011.5990621","title":"Decentralized cooperative control of autonomous surface vehicles with uncertain dynamics: A dynamic surface approach","display_name":"Decentralized cooperative control of autonomous surface vehicles with uncertain dynamics: A dynamic surface approach","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W2111229315","doi":"https://doi.org/10.1109/acc.2011.5990621","mag":"2111229315"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2011.5990621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2011.5990621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2011 American Control Conference","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/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"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":"Zhouhua Peng","raw_affiliation_strings":["Marine Engineering College, Dalian Maritime University, Dalian, China","Marine Eng. College, Dalian Maritime University, 116026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Engineering College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Marine Eng. College, Dalian Maritime University, 116026, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101593329","display_name":"Dan Wang","orcid":"https://orcid.org/0000-0002-4099-6004"},"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":"Dan Wang","raw_affiliation_strings":["Marine Engineering College, Dalian Maritime University, Dalian, China","Marine Eng. College, Dalian Maritime University, 116026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Engineering College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Marine Eng. College, Dalian Maritime University, 116026, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017219315","display_name":"Weiyao Lan","orcid":"https://orcid.org/0000-0002-0614-2259"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiyao Lan","raw_affiliation_strings":["Department of Automation, Xiamen University, Xiamen, China","Department of Automation, xiamen University, 361005, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Xiamen University, Xiamen, China","institution_ids":["https://openalex.org/I191208505"]},{"raw_affiliation_string":"Department of Automation, xiamen University, 361005, China","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088909877","display_name":"Xiaoqiang Li","orcid":"https://orcid.org/0000-0001-7118-6816"},"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":"Xiaoqiang Li","raw_affiliation_strings":["Marine Engineering College, Dalian Maritime University, Dalian, China","Marine Eng. College, Dalian Maritime University, 116026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Engineering College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Marine Eng. College, Dalian Maritime University, 116026, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030967468","display_name":"Gang Sun","orcid":"https://orcid.org/0000-0003-4827-103X"},"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":"Gang Sun","raw_affiliation_strings":["Marine Engineering College, Dalian Maritime University, Dalian, China","Marine Eng. College, Dalian Maritime University, 116026, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Marine Engineering College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Marine Eng. College, Dalian Maritime University, 116026, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2174","last_page":"2179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9984999895095825,"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":0.9973000288009644,"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":0.8837070465087891},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8177024722099304},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.694013774394989},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6001153588294983},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5552847385406494},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5537996292114258},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5400598049163818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5124862194061279},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.49099090695381165},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4715704321861267},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43853509426116943},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.42905110120773315},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40079838037490845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3078209161758423},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.254608690738678},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2277461588382721},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17447742819786072},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11614599823951721},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10175463557243347},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0846671462059021}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8837070465087891},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8177024722099304},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.694013774394989},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6001153588294983},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5552847385406494},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5537996292114258},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5400598049163818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5124862194061279},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.49099090695381165},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4715704321861267},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43853509426116943},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.42905110120773315},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40079838037490845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3078209161758423},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.254608690738678},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2277461588382721},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17447742819786072},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11614599823951721},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10175463557243347},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0846671462059021},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2011.5990621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2011.5990621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2011 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1982469113","https://openalex.org/W1988115241","https://openalex.org/W2004875789","https://openalex.org/W2014678902","https://openalex.org/W2062843871","https://openalex.org/W2064942388","https://openalex.org/W2102057409","https://openalex.org/W2106907917","https://openalex.org/W2111366290","https://openalex.org/W2112058052","https://openalex.org/W2115775310","https://openalex.org/W2119120935","https://openalex.org/W2120638718","https://openalex.org/W2123998235","https://openalex.org/W2125800763","https://openalex.org/W2130647945","https://openalex.org/W2137549436","https://openalex.org/W2141165386","https://openalex.org/W2146890818","https://openalex.org/W2147326597","https://openalex.org/W2160643434","https://openalex.org/W2165413656","https://openalex.org/W2165744313","https://openalex.org/W2168097327","https://openalex.org/W6678913213"],"related_works":["https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W3177256865","https://openalex.org/W1973298112","https://openalex.org/W2378628179","https://openalex.org/W2382713386","https://openalex.org/W2392266503"],"abstract_inverted_index":{"We":[0],"study":[1],"the":[2,33,54,58,70,83,112,115],"cooperative":[3,20,72],"control":[4,60],"problem":[5],"for":[6,24],"a":[7,25,80],"group":[8,26],"of":[9,27,57,69,114],"autonomous":[10],"surface":[11,29,37],"vehicles":[12,30],"(ASV)":[13],"with":[14],"uncertain":[15,84],"dynamics.":[16],"A":[17],"new":[18],"decentralized":[19],"controller":[21,73],"is":[22,108],"developed":[23],"underactuated":[28],"by":[31,102],"employing":[32],"neural":[34],"network-based":[35],"dynamic":[36],"approach,":[38],"graph":[39],"theory":[40],"and":[41,89],"Lyapunov":[42],"stability":[43],"theory.":[44],"Using":[45],"this":[46],"design,":[47],"it":[48],"does":[49],"not":[50],"require":[51],"to":[52,78,110],"calculate":[53],"numerical":[55],"derivatives":[56],"virtual":[59],"signals":[61],"as":[62,87],"in":[63,76],"traditional":[64],"backstepping-based":[65],"design.":[66],"The":[67],"advantages":[68],"proposed":[71,116],"are":[74],"that,":[75],"addition":[77],"achieve":[79],"desired":[81],"formation,":[82],"dynamics":[85],"such":[86],"coriolis":[88],"centripetal":[90],"force,":[91],"hydrodynamic":[92],"damping,":[93],"unmodelled":[94],"hydrodynamics,":[95],"disturbances":[96],"from":[97],"environment":[98],"can":[99],"be":[100],"compensated":[101],"on-line":[103],"learning.":[104],"An":[105],"illustrative":[106],"example":[107],"provided":[109],"demonstrate":[111],"effectiveness":[113],"approach.":[117]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}