{"id":"https://openalex.org/W7161179026","doi":"https://doi.org/10.1109/access.2026.3693069","title":"Enhancing Automatic Berthing of Unmanned Surface Vessels: A Finite-Time Observer Approach With Flapped Rudder Actuation","display_name":"Enhancing Automatic Berthing of Unmanned Surface Vessels: A Finite-Time Observer Approach With Flapped Rudder Actuation","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7161179026","doi":"https://doi.org/10.1109/access.2026.3693069"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3693069","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3693069","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.2026.3693069","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019377579","display_name":"Zaiji Piao","orcid":"https://orcid.org/0000-0002-3241-1926"},"institutions":[{"id":"https://openalex.org/I156292868","display_name":"Dalian University of Foreign Languages","ror":"https://ror.org/008a8z393","country_code":"CN","type":"education","lineage":["https://openalex.org/I156292868"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zaiji Piao","raw_affiliation_strings":["School of Software, Dalian University of Foreign Languages, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-3241-1926","affiliations":[{"raw_affiliation_string":"School of Software, Dalian University of Foreign Languages, Dalian, China","institution_ids":["https://openalex.org/I156292868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136128425","display_name":"Shuang Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I156292868","display_name":"Dalian University of Foreign Languages","ror":"https://ror.org/008a8z393","country_code":"CN","type":"education","lineage":["https://openalex.org/I156292868"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Sun","raw_affiliation_strings":["School of Software, Dalian University of Foreign Languages, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Dalian University of Foreign Languages, Dalian, China","institution_ids":["https://openalex.org/I156292868"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101772726","display_name":"Yingying Yu","orcid":"https://orcid.org/0000-0002-4668-7798"},"institutions":[{"id":"https://openalex.org/I156292868","display_name":"Dalian University of Foreign Languages","ror":"https://ror.org/008a8z393","country_code":"CN","type":"education","lineage":["https://openalex.org/I156292868"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingying Yu","raw_affiliation_strings":["School of Software, Dalian University of Foreign Languages, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software, Dalian University of Foreign Languages, Dalian, China","institution_ids":["https://openalex.org/I156292868"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I156292868"],"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":0.56028991,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"74015","last_page":"74029"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.2361000031232834,"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":0.2361000031232834,"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":0.1120000034570694,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.08179999887943268,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/rudder","display_name":"Rudder","score":0.9704999923706055},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5928000211715698},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5228999853134155},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.49559998512268066},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.3756999969482422},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.305400013923645}],"concepts":[{"id":"https://openalex.org/C183776436","wikidata":"https://www.wikidata.org/wiki/Q209760","display_name":"Rudder","level":2,"score":0.9704999923706055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.691100001335144},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5928000211715698},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5228999853134155},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.49559998512268066},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4717000126838684},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.3756999969482422},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2721000015735626},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3693069","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3693069","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:ce05ff1d711545eda6f7760e9adbbe2b","is_oa":true,"landing_page_url":"https://doaj.org/article/ce05ff1d711545eda6f7760e9adbbe2b","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 14, Pp 74015-74029 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3693069","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3693069","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":[],"awards":[{"id":"https://openalex.org/G2418873126","display_name":null,"funder_award_id":"LJ212510172002","funder_id":"https://openalex.org/F4320324560","funder_display_name":"Department of Education of Liaoning Province"}],"funders":[{"id":"https://openalex.org/F4320324560","display_name":"Department of Education of Liaoning Province","ror":"https://ror.org/0022v2454"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,65,121,164],"increasing":[1],"frequency":[2],"of":[3,19,127,148,167],"coastal":[4],"accidents":[5],"has":[6,24],"drawn":[7],"growing":[8],"attention":[9],"to":[10,37,73],"vessel":[11],"maneuvering":[12],"in":[13,85,155],"near-shore":[14],"areas.":[15],"Consequently,":[16],"autonomous":[17,160,201],"berthing":[18,50,101,161],"unmanned":[20],"surface":[21],"vessels":[22],"(USVs)":[23],"emerged":[25],"as":[26,81],"a":[27,60,69,168],"prominent":[28],"research":[29],"focus,":[30],"though":[31],"it":[32],"faces":[33],"significant":[34],"challenges":[35],"due":[36],"low-speed":[38],"navigation,":[39],"shallow":[40],"water,":[41],"and":[42,75,83,97,113,130,158,171,190,198],"bank":[43],"effects.":[44],"This":[45],"paper":[46],"presents":[47],"an":[48],"automatic":[49,194],"control":[51,91,119,150],"method":[52,109],"for":[53,77,162],"USVs":[54],"equipped":[55],"with":[56,117,176],"flapped":[57,183],"rudders,":[58],"utilizing":[59],"finite-time":[61,70,122,169],"observer-based":[62],"backstepping":[63,90,132,172],"controller.":[64],"proposed":[66,108,165],"approach":[67],"integrates":[68],"disturbance":[71,114],"observer":[72,123,170],"estimate":[74],"compensate":[76],"external":[78],"disturbances,":[79],"such":[80],"wind":[82],"waves,":[84],"real":[86],"time,":[87],"while":[88],"the":[89,100,107,131,146,149,177,182],"framework":[92],"ensures":[93],"precise":[94],"trajectory":[95],"tracking":[96],"stability":[98],"throughout":[99],"process.":[102],"Simulation":[103],"results":[104],"demonstrate":[105],"that":[106],"significantly":[110],"improves":[111],"rapidity":[112],"rejection":[115],"compared":[116],"conventional":[118],"strategies.":[120],"enables":[124],"faster":[125],"convergence":[126],"estimation":[128],"errors,":[129],"controller":[133],"guarantees":[134],"robustness":[135],"against":[136],"system":[137,191],"uncertainties.":[138],"Numerical":[139],"simulations":[140],"under":[141],"various":[142],"sea":[143],"states":[144],"validate":[145],"effectiveness":[147],"scheme,":[151],"confirming":[152],"its":[153],"superiority":[154],"achieving":[156],"accurate":[157],"stable":[159,200],"USVs.":[163],"combination":[166],"sliding-mode":[173],"control,":[174],"together":[175],"high":[178],"maneuverability":[179],"provided":[180],"by":[181],"rudder,":[184],"effectively":[185],"addresses":[186],"complex":[187],"environmental":[188],"disturbances":[189],"nonlinearities":[192],"during":[193],"berthing,":[195],"enabling":[196],"high-precision":[197],"highly":[199],"docking.":[202]},"counts_by_year":[],"updated_date":"2026-05-20T06:11:20.791850","created_date":"2026-05-15T00:00:00"}