{"id":"https://openalex.org/W3117770416","doi":"https://doi.org/10.1109/access.2020.3046130","title":"Adaptive Backstepping Sliding Mode Tracking Control for Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation","display_name":"Adaptive Backstepping Sliding Mode Tracking Control for Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation","publication_year":2020,"publication_date":"2020-12-28","ids":{"openalex":"https://openalex.org/W3117770416","doi":"https://doi.org/10.1109/access.2020.3046130","mag":"3117770416"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3046130","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3046130","pdf_url":null,"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://doi.org/10.1109/access.2020.3046130","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100624538","display_name":"Yongsheng Zhao","orcid":"https://orcid.org/0000-0002-1814-6687"},"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":"Yongsheng Zhao","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"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/A5039018329","display_name":"Xiaojie Sun","orcid":"https://orcid.org/0000-0003-2607-5134"},"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":"Xiaojie Sun","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"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/A5100389615","display_name":"Guofeng Wang","orcid":"https://orcid.org/0000-0001-5751-6364"},"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":"Guofeng Wang","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"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/A5010611037","display_name":"Yunsheng Fan","orcid":"https://orcid.org/0000-0001-7828-4902"},"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":"Yunsheng Fan","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100624538"],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":5.296,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.95907928,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"1304","last_page":"1312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9980999827384949,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9966999888420105,"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":0.949999988079071,"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":0.953079879283905},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8803458213806152},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6574609279632568},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6460481286048889},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6278990507125854},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5653990507125854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5624743700027466},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5478862524032593},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5380076766014099},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5319165587425232},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4672045111656189},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4273327589035034},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4164170026779175},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.32551196217536926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.254783034324646},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24796465039253235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1944362223148346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15596535801887512},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12619802355766296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.059789180755615234}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.953079879283905},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8803458213806152},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6574609279632568},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6460481286048889},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6278990507125854},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5653990507125854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5624743700027466},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5478862524032593},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5380076766014099},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5319165587425232},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4672045111656189},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4273327589035034},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4164170026779175},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32551196217536926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.254783034324646},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24796465039253235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1944362223148346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15596535801887512},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12619802355766296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.059789180755615234},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3046130","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3046130","pdf_url":null,"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:b2f7b8b67db74720b44f42c22112ab60","is_oa":true,"landing_page_url":"https://doaj.org/article/b2f7b8b67db74720b44f42c22112ab60","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 9, Pp 1304-1312 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3046130","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3046130","pdf_url":null,"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":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1172559538","display_name":null,"funder_award_id":"3132019005","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G1516220944","display_name":null,"funder_award_id":"20180520005","funder_id":"https://openalex.org/F4320323086","funder_display_name":"Natural Science Foundation of Liaoning Province"},{"id":"https://openalex.org/G3746302295","display_name":null,"funder_award_id":"3132019311","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G802126860","display_name":null,"funder_award_id":"51609033","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/F4320323086","display_name":"Natural Science Foundation of Liaoning Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1508975269","https://openalex.org/W1931802944","https://openalex.org/W1973126591","https://openalex.org/W1985940938","https://openalex.org/W1996773027","https://openalex.org/W2021468640","https://openalex.org/W2047749749","https://openalex.org/W2062219372","https://openalex.org/W2107956696","https://openalex.org/W2117948790","https://openalex.org/W2141045865","https://openalex.org/W2148332992","https://openalex.org/W2274426884","https://openalex.org/W2345644119","https://openalex.org/W2361517678","https://openalex.org/W2492811885","https://openalex.org/W2532673523","https://openalex.org/W2572726358","https://openalex.org/W2592475190","https://openalex.org/W2769370053","https://openalex.org/W2777634109","https://openalex.org/W2781808591","https://openalex.org/W2782145721","https://openalex.org/W2899205072","https://openalex.org/W2902508352","https://openalex.org/W2914254289","https://openalex.org/W2922317701","https://openalex.org/W2951413154","https://openalex.org/W2977567805","https://openalex.org/W2992708501","https://openalex.org/W2996800083","https://openalex.org/W3009423519","https://openalex.org/W3009692813","https://openalex.org/W3010738413","https://openalex.org/W3024998080","https://openalex.org/W3026829485","https://openalex.org/W3036073853","https://openalex.org/W3092382328","https://openalex.org/W4236597564"],"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/W2036311230","https://openalex.org/W2376449068","https://openalex.org/W4365392829","https://openalex.org/W2100998971","https://openalex.org/W2002811656"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"adaptive":[4,25,93,155],"backstepping":[5,23,71,97,156],"sliding":[6,26,98,157],"mode":[7,27,99,158],"tracking":[8,17,47,159,165],"control":[9,28,32,39,48,72,90,141,160],"method":[10,78,125,161,183],"for":[11],"underactuated":[12,119],"unmanned":[13],"surface":[14],"vehicle.":[15],"The":[16,30,74,92,148],"controller":[18],"is":[19,34,49,79,101,121,137,144,184],"designed":[20],"by":[21,88,123],"combining":[22],"and":[24,44,61,108,114,173,186],"technology.":[29],"virtual":[31,89],"law":[33],"used":[35,80],"to":[36,81,103],"replace":[37],"the":[38,45,58,67,83,105,112,115,118,127,132,140,153,167],"strategy":[40],"of":[41,69,111,117,169],"position":[42,46],"error,":[43],"transformed":[50],"into":[51],"velocity":[52],"control,":[53],"which":[54],"can":[55,162,178],"effectively":[56],"avoid":[57],"input":[59],"saturation":[60],"singular":[62],"value":[63],"problem":[64,86],"existing":[65],"in":[66,126,166],"design":[68],"traditional":[70],"law.":[73,91],"neural":[75],"shunt":[76],"model":[77,106],"solve":[82],"differential":[84],"explosion":[85],"caused":[87],"technology":[94],"based":[95],"on":[96,131],"theory":[100],"introduced":[102],"compensate":[104],"uncertainty":[107,172],"time-varying":[109,174],"disturbances":[110],"system,":[113],"robustness":[116],"USV":[120],"enhanced":[122],"this":[124,182],"unknown":[128],"environment.":[129],"Based":[130],"Lyapunov":[133],"stability":[134],"theory,":[135],"it":[136,177],"proved":[138],"that":[139,152,181],"system":[142,170],"error":[143],"ultimately":[145],"uniformly":[146],"bounded.":[147],"simulation":[149],"results":[150],"show":[151],"proposed":[154],"achieve":[163],"stable":[164],"case":[168],"parameter":[171],"disturbances,":[175],"so":[176],"be":[179],"concluded":[180],"reasonable":[185],"effective.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}