{"id":"https://openalex.org/W3009881865","doi":"https://doi.org/10.1109/access.2020.2977986","title":"Output Feedback Spatial Trajectory Tracking Control of Underactuated Unmanned Undersea Vehicles","display_name":"Output Feedback Spatial Trajectory Tracking Control of Underactuated Unmanned Undersea Vehicles","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3009881865","doi":"https://doi.org/10.1109/access.2020.2977986","mag":"3009881865"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2977986","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2977986","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09022977.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09022977.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062140000","display_name":"Haomiao Yu","orcid":"https://orcid.org/0000-0001-6247-8614"},"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":"Haomiao Yu","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-6247-8614","affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100751668","display_name":"Chen Guo","orcid":"https://orcid.org/0000-0002-5198-3938"},"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":"Chen Guo","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103005683","display_name":"Zhipeng Shen","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":"Zhipeng Shen","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017411379","display_name":"Zheping Yan","orcid":"https://orcid.org/0000-0002-5598-0275"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheping Yan","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5598-0275","affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.3323,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.88152519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"42924","last_page":"42936"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9975000023841858,"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":0.9710000157356262,"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/underactuation","display_name":"Underactuation","score":0.9596370458602905},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8512262105941772},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8415151834487915},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7408649921417236},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5529912114143372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.526269793510437},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.5172008275985718},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5050671696662903},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.43622609972953796},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42305970191955566},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.41567185521125793},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.29475948214530945},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26725316047668457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20035651326179504},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17926031351089478},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16946330666542053},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.14703699946403503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1460185945034027},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.132770836353302}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9596370458602905},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8512262105941772},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8415151834487915},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7408649921417236},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5529912114143372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.526269793510437},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.5172008275985718},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5050671696662903},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.43622609972953796},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42305970191955566},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.41567185521125793},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.29475948214530945},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26725316047668457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20035651326179504},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17926031351089478},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16946330666542053},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.14703699946403503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1460185945034027},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.132770836353302},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/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/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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2977986","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2977986","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09022977.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f194a36f47d8487bb652d527976ae76f","is_oa":true,"landing_page_url":"https://doaj.org/article/f194a36f47d8487bb652d527976ae76f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 42924-42936 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2977986","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2977986","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09022977.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8700000047683716}],"awards":[{"id":"https://openalex.org/G1935181325","display_name":null,"funder_award_id":"51879027","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3455856720","display_name":null,"funder_award_id":"3132019318","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4267609538","display_name":null,"funder_award_id":"2019-BS-022","funder_id":"https://openalex.org/F4320326183","funder_display_name":"Doctoral Start-up Foundation of Liaoning Province"},{"id":"https://openalex.org/G5707355787","display_name":null,"funder_award_id":"3132019318","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5866823708","display_name":null,"funder_award_id":"51579024","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6123879544","display_name":null,"funder_award_id":"3132019109","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8058764784","display_name":null,"funder_award_id":"51809028","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G938378217","display_name":null,"funder_award_id":"51879027","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326183","display_name":"Doctoral Start-up Foundation of Liaoning Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3009881865.pdf","grobid_xml":"https://content.openalex.org/works/W3009881865.grobid-xml"},"referenced_works_count":61,"referenced_works":["https://openalex.org/W627856671","https://openalex.org/W1516447630","https://openalex.org/W1558647590","https://openalex.org/W1560976374","https://openalex.org/W1595895163","https://openalex.org/W1801779350","https://openalex.org/W1901138559","https://openalex.org/W1970306962","https://openalex.org/W1971044547","https://openalex.org/W1982617281","https://openalex.org/W1988367613","https://openalex.org/W2001471851","https://openalex.org/W2001738174","https://openalex.org/W2002445862","https://openalex.org/W2002675616","https://openalex.org/W2015573498","https://openalex.org/W2026980824","https://openalex.org/W2030904842","https://openalex.org/W2044341605","https://openalex.org/W2047749749","https://openalex.org/W2050439892","https://openalex.org/W2085627517","https://openalex.org/W2097280364","https://openalex.org/W2099388669","https://openalex.org/W2106586754","https://openalex.org/W2110702780","https://openalex.org/W2118937753","https://openalex.org/W2141836307","https://openalex.org/W2159371803","https://openalex.org/W2214731807","https://openalex.org/W2346634033","https://openalex.org/W2401157614","https://openalex.org/W2403551983","https://openalex.org/W2492811885","https://openalex.org/W2548260618","https://openalex.org/W2566446143","https://openalex.org/W2606853459","https://openalex.org/W2755382889","https://openalex.org/W2781881353","https://openalex.org/W2802611068","https://openalex.org/W2806267509","https://openalex.org/W2806399977","https://openalex.org/W2883731169","https://openalex.org/W2896033043","https://openalex.org/W2899366745","https://openalex.org/W2911725628","https://openalex.org/W2911922016","https://openalex.org/W2922205396","https://openalex.org/W2937359304","https://openalex.org/W2941387609","https://openalex.org/W2944244565","https://openalex.org/W2944533946","https://openalex.org/W2948006155","https://openalex.org/W2957287688","https://openalex.org/W2964339170","https://openalex.org/W2971743912","https://openalex.org/W2981718602","https://openalex.org/W3026829485","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2500162090","https://openalex.org/W4226382645","https://openalex.org/W3216719245","https://openalex.org/W4307334309","https://openalex.org/W4226267256","https://openalex.org/W2046770915","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W2168992150","https://openalex.org/W2217718355"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"suffering":[3],"from":[4],"both":[5],"parameter":[6],"perturbation":[7],"and":[8,46,70,88,105],"unknown":[9],"ocean":[10],"currents,":[11],"the":[12,27,44,56,65,80,85,94,98,109,114],"spatial":[13,57],"trajectory":[14,58,87],"tracking":[15,59,91,116],"problem":[16],"of":[17,29,49,97,113],"an":[18],"underactuated":[19,50,81],"unmanned":[20],"undersea":[21],"vehicle":[22],"(UUV)":[23],"is":[24,40,61],"investigated":[25],"in":[26,52],"absence":[28],"full":[30],"state":[31],"information.":[32],"The":[33],"equivalent":[34],"output":[35],"injection":[36],"sliding":[37,72],"mode":[38,73],"observer":[39],"applied":[41],"to":[42,78,83,93,107],"estimate":[43],"linear":[45],"angular":[47],"velocities":[48],"UUVs":[51],"finite":[53],"time.":[54],"Meanwhile,":[55],"controller":[60],"developed":[62],"based":[63],"on":[64],"bioinspired":[66],"filtering":[67],"backstepping":[68],"technique":[69],"integral":[71],"control":[74,111,117],"principle,":[75],"which":[76],"guarantees":[77],"steer":[79],"UUV":[82],"track":[84],"desired":[86],"stabilizes":[89],"all":[90],"errors":[92],"bounded":[95],"neighborhood":[96],"origin.":[99],"Numerical":[100],"simulation":[101],"results":[102],"are":[103],"presented":[104],"analyzed":[106],"demonstrate":[108],"preferably":[110],"performance":[112],"proposed":[115],"scheme.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
