{"id":"https://openalex.org/W4409102137","doi":"https://doi.org/10.1109/access.2025.3557066","title":"Prescribed Performance Trajectory Tracking Control for Under-Actuated Underwater Vehicles With Adaptive Dynamic Programming","display_name":"Prescribed Performance Trajectory Tracking Control for Under-Actuated Underwater Vehicles With Adaptive Dynamic Programming","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409102137","doi":"https://doi.org/10.1109/access.2025.3557066"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3557066","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3557066","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.2025.3557066","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031584019","display_name":"Xiumei Han","orcid":"https://orcid.org/0000-0001-7653-2335"},"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":"Xiumei Han","raw_affiliation_strings":["College of Artificial Intelligence, Dalian Maritime University, Dalian, China","College of Artificial Intelligence, Dalian Maritime University, Dalian, Liaoning, China"],"raw_orcid":"https://orcid.org/0000-0001-7653-2335","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"College of Artificial Intelligence, Dalian Maritime University, Dalian, Liaoning, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yahan Zhang","orcid":"https://orcid.org/0009-0006-0789-5726"},"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":"Yahan Zhang","raw_affiliation_strings":["College of Artificial Intelligence, Dalian Maritime University, Dalian, China","College of Artificial Intelligence, Dalian Maritime University, Dalian, Liaoning, China"],"raw_orcid":"https://orcid.org/0009-0006-0789-5726","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"College of Artificial Intelligence, Dalian Maritime University, Dalian, Liaoning, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021282130","display_name":"Mengnan Hao","orcid":"https://orcid.org/0000-0002-2309-2521"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengnan Hao","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum (East China), Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057060780","display_name":"Yupeng Jia","orcid":"https://orcid.org/0000-0002-6319-7627"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yupeng Jia","raw_affiliation_strings":["College of Electronic and Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","Shanghai Research Institute for Intelligent Autonomous Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6319-7627","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031584019"],"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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06208186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"59505","last_page":"59513"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9937000274658203,"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":0.9937000274658203,"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":0.9868999719619751,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9467999935150146,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/trajectory","display_name":"Trajectory","score":0.7351382970809937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6346014738082886},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6104536652565002},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5480366945266724},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.48768818378448486},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4684797525405884},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4573054611682892},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4558623135089874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44048619270324707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21369251608848572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.176810622215271},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1475229263305664}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7351382970809937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6346014738082886},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6104536652565002},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5480366945266724},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.48768818378448486},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4684797525405884},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4573054611682892},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4558623135089874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44048619270324707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21369251608848572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.176810622215271},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1475229263305664},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3557066","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3557066","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:45640bdb8fae45a2af65c01e65748611","is_oa":true,"landing_page_url":"https://doaj.org/article/45640bdb8fae45a2af65c01e65748611","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 13, Pp 59505-59513 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3557066","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3557066","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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6600000262260437}],"awards":[{"id":"https://openalex.org/G7492680632","display_name":null,"funder_award_id":"62403096","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1998380707","https://openalex.org/W2002675616","https://openalex.org/W2027197837","https://openalex.org/W2074823003","https://openalex.org/W2346634033","https://openalex.org/W2789412978","https://openalex.org/W2811002385","https://openalex.org/W2967890743","https://openalex.org/W2981718602","https://openalex.org/W3006129553","https://openalex.org/W3009042095","https://openalex.org/W3041284915","https://openalex.org/W3047221759","https://openalex.org/W3124421294","https://openalex.org/W3131678030","https://openalex.org/W3161844359","https://openalex.org/W3164901163","https://openalex.org/W3200454905","https://openalex.org/W3208245945","https://openalex.org/W4200167806","https://openalex.org/W4213084060","https://openalex.org/W4225089199","https://openalex.org/W4226280148","https://openalex.org/W4291552402","https://openalex.org/W4296050578","https://openalex.org/W4308310009","https://openalex.org/W4387010630","https://openalex.org/W4387448002","https://openalex.org/W4392119453","https://openalex.org/W4403210480","https://openalex.org/W6796315908"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2145006118"],"abstract_inverted_index":{"This":[0],"work":[1],"studies":[2],"the":[3,18,29,35,41,45,51,62,72,76,100,114,134,137,154,165],"trajectory":[4,30,46],"tracking":[5,31,38,47,80],"control":[6,32,39,56,66,92,108,138,167],"problem":[7,33],"for":[8,49],"under-actuated":[9,19,155],"autonomous":[10],"underwater":[11],"vehicles":[12],"(AUVs).":[13],"In":[14],"order":[15],"to":[16,70,125,147],"solve":[17],"problem,":[20],"an":[21,106],"error":[22,81,151],"definition":[23],"method":[24],"is":[25,68,82,88,94,110,117,122,145,169],"used,":[26],"which":[27,50],"transformed":[28],"into":[34],"prescribed":[36,73,115],"performance":[37,116,127],"problem.":[40],"continuous":[42],"dynamics":[43],"of":[44,78,136,164],"error,":[48],"actuated":[52],"velocities":[53],"are":[54,58,157],"virtual":[55,65],"inputs,":[57],"formulated.":[59],"By":[60,98],"using":[61,171],"backstepping,":[63],"a":[64,85],"velocity":[67,79],"designed":[69,95],"guarantee":[71],"performance.":[74],"Then":[75],"dynamic":[77,130],"formulated":[83],"and":[84,102,153],"cost":[86],"function":[87],"given.":[89],"The":[90,142,162],"optimal":[91,107],"law":[93,109],"by":[96],"ADP.":[97],"combining":[99],"backstepping":[101],"ADP,":[103],"not":[104],"only":[105],"desgined,":[111],"but":[112],"also":[113],"guaranteed.":[118],"Moreover,":[119],"since":[120],"there":[121],"no":[123],"need":[124],"select":[126],"functions":[128],"at":[129],"level,":[131],"it":[132],"makes":[133],"design":[135],"scheme":[139,168],"more":[140],"easily.":[141],"Lyapunov":[143],"theory":[144],"used":[146],"demonstrate":[148],"that":[149],"all":[150],"variables":[152],"states":[156],"uniformly":[158],"ultimately":[159],"bounded":[160],"(UUB).":[161],"effectiveness":[163],"proposed":[166],"validated":[170],"simulation":[172],"results.":[173]},"counts_by_year":[],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}