{"id":"https://openalex.org/W4414117837","doi":"https://doi.org/10.1109/ccta53793.2025.11151378","title":"Cooperative Path Following Control of Multiple Underactuated USVs with Experimental Validation","display_name":"Cooperative Path Following Control of Multiple Underactuated USVs with Experimental Validation","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4414117837","doi":"https://doi.org/10.1109/ccta53793.2025.11151378"},"language":"en","primary_location":{"id":"doi:10.1109/ccta53793.2025.11151378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta53793.2025.11151378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114195874","display_name":"Rijie Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rijie Zeng","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063588331","display_name":"Kairong Duan","orcid":"https://orcid.org/0000-0003-1375-1826"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kairong Duan","raw_affiliation_strings":["University of Science and Technology Beijing,Department of Computer and Communication Engineering,Beijing,China,100083"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology Beijing,Department of Computer and Communication Engineering,Beijing,China,100083","institution_ids":["https://openalex.org/I92403157","https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006166141","display_name":"Erlei Li","orcid":"https://orcid.org/0000-0002-7475-461X"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Erlei Li","raw_affiliation_strings":["Jiangsu Automation Research Institute,Department of Automation,Jiangsu,China,222006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Automation Research Institute,Department of Automation,Jiangsu,China,222006","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074510121","display_name":"Xiaoye Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210113342","display_name":"Systems Engineering Society of China","ror":"https://ror.org/024pse488","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210113342"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoye Guo","raw_affiliation_strings":["CSSC System Engineering Research Institute,Beijing,China,100036"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSSC System Engineering Research Institute,Beijing,China,100036","institution_ids":["https://openalex.org/I4210113342"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414775","display_name":"Weidong Zhang","orcid":"https://orcid.org/0000-0002-4700-1276"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014747872","display_name":"Wei Xie","orcid":"https://orcid.org/0000-0003-4984-6659"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Xie","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"327","last_page":"332"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9969000220298767,"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":0.9164000153541565},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7486000061035156},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6711999773979187},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48890000581741333},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.444599986076355},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.4196999967098236},{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.41260001063346863},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.40689998865127563}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9164000153541565},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7486000061035156},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6711999773979187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5454999804496765},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48890000581741333},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.444599986076355},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.4196999967098236},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.41260001063346863},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.40689998865127563},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3772999942302704},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3637999892234802},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.34689998626708984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34450000524520874},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta53793.2025.11151378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta53793.2025.11151378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2260626412","display_name":null,"funder_award_id":"U24A20260","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2002675616","https://openalex.org/W2143872920","https://openalex.org/W2345644119","https://openalex.org/W2555176140","https://openalex.org/W2792969186","https://openalex.org/W2888960517","https://openalex.org/W2897830955","https://openalex.org/W2905456320","https://openalex.org/W2957287688","https://openalex.org/W3027936943","https://openalex.org/W3037669777","https://openalex.org/W4401880570","https://openalex.org/W4402895034"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W2812482866","https://openalex.org/W2758944028"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"cooperative":[3],"path-following":[4,49],"control":[5],"for":[6,52],"multiple":[7],"underactuated":[8],"Unmanned":[9],"Surface":[10],"Vehicles":[11],"(USVs)":[12],"operating":[13],"in":[14],"the":[15,33,40,69,82,91],"presence":[16],"of":[17,32,68,90],"disturbances.":[18,87],"A":[19,72],"distributed":[20],"coordination":[21],"framework":[22],"is":[23,94],"developed":[24],"to":[25,30,60,80,85],"assign":[26],"individual":[27],"desired":[28],"paths":[29],"each":[31],"<tex":[34],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[35],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$n$</tex>":[36],"USVs":[37],"while":[38],"preserving":[39],"overall":[41],"formation":[42],"pattern.":[43],"Furthermore,":[44],"we":[45],"construct":[46],"a":[47,61],"backsteppingbased":[48],"controller":[50,93],"tailored":[51],"USVs,":[53],"which":[54],"guarantees":[55],"that":[56],"tracking":[57],"errors":[58],"converge":[59],"small":[62],"neighborhood":[63],"and":[64,75,99],"ensures":[65],"global":[66],"boundedness":[67],"closed-loop":[70],"system.":[71],"saturation":[73],"function":[74],"disturbance":[76],"observers":[77],"are":[78],"incorporated":[79],"improve":[81],"controller's":[83],"resilience":[84],"external":[86],"The":[88],"effectiveness":[89],"proposed":[92],"demonstrated":[95],"through":[96],"both":[97],"simulation":[98],"real-world":[100],"experiments.":[101]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}