{"id":"https://openalex.org/W4312518824","doi":"https://doi.org/10.1109/access.2022.3213059","title":"Predefined Time Nonsingular Fast Terminal Sliding Mode Control for Trajectory Tracking of ROVs","display_name":"Predefined Time Nonsingular Fast Terminal Sliding Mode Control for Trajectory Tracking of ROVs","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312518824","doi":"https://doi.org/10.1109/access.2022.3213059"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3213059","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3213059","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09913960.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/ielx7/6287639/6514899/09913960.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051463234","display_name":"Guoyan Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I79223203","display_name":"Guangdong Ocean University","ror":"https://ror.org/0462wa640","country_code":"CN","type":"education","lineage":["https://openalex.org/I79223203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoyan Yu","raw_affiliation_strings":["School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","institution_ids":["https://openalex.org/I79223203"]},{"raw_affiliation_string":"Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047803442","display_name":"Zhuocheng Li","orcid":"https://orcid.org/0000-0001-7016-4818"},"institutions":[{"id":"https://openalex.org/I79223203","display_name":"Guangdong Ocean University","ror":"https://ror.org/0462wa640","country_code":"CN","type":"education","lineage":["https://openalex.org/I79223203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuocheng Li","raw_affiliation_strings":["School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China"],"raw_orcid":"https://orcid.org/0000-0001-7016-4818","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","institution_ids":["https://openalex.org/I79223203"]},{"raw_affiliation_string":"Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011600130","display_name":"Haitao Liu","orcid":"https://orcid.org/0000-0003-0995-4655"},"institutions":[{"id":"https://openalex.org/I79223203","display_name":"Guangdong Ocean University","ror":"https://ror.org/0462wa640","country_code":"CN","type":"education","lineage":["https://openalex.org/I79223203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Liu","raw_affiliation_strings":["School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China"],"raw_orcid":"https://orcid.org/0000-0003-0995-4655","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","institution_ids":["https://openalex.org/I79223203"]},{"raw_affiliation_string":"Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026173725","display_name":"Qiheng Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I79223203","display_name":"Guangdong Ocean University","ror":"https://ror.org/0462wa640","country_code":"CN","type":"education","lineage":["https://openalex.org/I79223203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiheng Zhu","raw_affiliation_strings":["School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, China","institution_ids":["https://openalex.org/I79223203"]},{"raw_affiliation_string":"Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center, Zhanjiang, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79223203"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.4075,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80696221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"107864","last_page":"107876"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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"}},"topics":[{"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9886999726295471,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9728999733924866,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/control-theory","display_name":"Control theory (sociology)","score":0.8315584659576416},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7207797765731812},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6815022230148315},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6624901294708252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6410715579986572},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.5598040819168091},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5175096988677979},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5054636001586914},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.488853394985199},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.4654814600944519},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4346208870410919},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3313179016113281},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22769954800605774},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16642484068870544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12483400106430054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09674051403999329},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08984515070915222}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8315584659576416},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7207797765731812},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6815022230148315},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6624901294708252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6410715579986572},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.5598040819168091},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5175096988677979},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5054636001586914},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.488853394985199},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.4654814600944519},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4346208870410919},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3313179016113281},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22769954800605774},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16642484068870544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12483400106430054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09674051403999329},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08984515070915222},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3213059","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3213059","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09913960.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:cfc0c290ebc0446db7c56ed319f365b4","is_oa":true,"landing_page_url":"https://doaj.org/article/cfc0c290ebc0446db7c56ed319f365b4","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 10, Pp 107864-107876 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3213059","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3213059","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09913960.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/16","display_name":"Peace, Justice and strong institutions","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312518824.pdf","grobid_xml":"https://content.openalex.org/works/W4312518824.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W911366325","https://openalex.org/W1483373265","https://openalex.org/W1988837728","https://openalex.org/W1994396401","https://openalex.org/W1998663911","https://openalex.org/W2015113370","https://openalex.org/W2040711492","https://openalex.org/W2123998235","https://openalex.org/W2175224707","https://openalex.org/W2192028265","https://openalex.org/W2593378596","https://openalex.org/W2609814547","https://openalex.org/W2736101375","https://openalex.org/W2749846973","https://openalex.org/W2765179559","https://openalex.org/W2793029408","https://openalex.org/W2896992921","https://openalex.org/W2904494959","https://openalex.org/W2925553581","https://openalex.org/W2964339170","https://openalex.org/W2989912838","https://openalex.org/W2990668594","https://openalex.org/W2998116998","https://openalex.org/W3092089064","https://openalex.org/W3093123759","https://openalex.org/W3125720040","https://openalex.org/W3152719390","https://openalex.org/W3164318478","https://openalex.org/W3169809145","https://openalex.org/W3190045152","https://openalex.org/W3201713765","https://openalex.org/W3217471905","https://openalex.org/W4200485678","https://openalex.org/W4206791442","https://openalex.org/W4210436008","https://openalex.org/W4214636520","https://openalex.org/W4223953879","https://openalex.org/W4225639634","https://openalex.org/W4226103724","https://openalex.org/W4280650175","https://openalex.org/W6734163025"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2108072532","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W4214925198","https://openalex.org/W3011129825","https://openalex.org/W1995636945"],"abstract_inverted_index":{"A":[0],"predetermined":[1],"time":[2,19,70,94,120,129,142],"nonsingular":[3,78],"fast":[4,76],"terminal":[5],"sliding":[6,79],"mode":[7],"control":[8,25,45,57,71,80,147],"(PTNFTSMC)":[9],"is":[10,36,61,133],"proposed":[11,37,66,89,106,157],"to":[12,38,51,136],"solve":[13],"the":[14,23,52,56,65,73,83,88,105,115,126,131,137,140,151,156],"problem":[15],"of":[16,26,59,68,75,87,114,130,139,155],"long":[17],"convergence":[18,123,128],"and":[20,72,85,125,153],"instability":[21],"in":[22,91],"orbit":[24],"remotely":[27],"operated":[28],"vehicles":[29],"(ROVs).":[30],"First,":[31],"a":[32,40,92,118],"new":[33],"concise":[34],"method":[35],"design":[39],"predetermined-time":[41],"controller":[42,90],"by":[43,63,98],"setting":[44],"parameter":[46],"conditions":[47],"that":[48,104],"self-adjust":[49],"according":[50],"system":[53,116,132],"state.":[54],"Then,":[55],"law":[58],"PTNFTSMC":[60,107],"formulated":[62],"combining":[64],"theory":[67,74],"prescribed":[69],"termination":[77],"mode.":[81],"Finally,":[82],"stability":[84,109],"tunability":[86],"specific":[93],"period":[95],"are":[96],"demonstrated":[97],"rigorous":[99],"arguments.":[100],"Simulation":[101],"experiments":[102],"show":[103],"achieves":[108],"at":[110],"any":[111],"initial":[112],"state":[113],"for":[117],"specified":[119,141],"with":[121,144],"guaranteed":[122],"accuracy,":[124],"actual":[127],"very":[134],"close":[135],"parameters":[138],"compared":[143],"other":[145],"existing":[146],"schemes.":[148],"This":[149],"confirms":[150],"effectiveness":[152],"superiority":[154],"PTNFTSMC.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}