{"id":"https://openalex.org/W3205654244","doi":"https://doi.org/10.1109/icra48506.2021.9561908","title":"Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances","display_name":"Positioning Control for Underactuated Unmanned Surface Vehicles to Resist Environmental Disturbances","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205654244","doi":"https://doi.org/10.1109/icra48506.2021.9561908","mag":"3205654244"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5053425386","display_name":"Yang Qu","orcid":"https://orcid.org/0000-0002-1840-6135"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yang Qu","raw_affiliation_strings":["The Hong Kong University of Science and Technology,School of Engineering,Department of Mechanical and Aerospace Engineering,Hong Kong SAR,China","Department of Mechanical and Aerospace Engineering, School of Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,School of Engineering,Department of Mechanical and Aerospace Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, School of Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086746405","display_name":"Lilong Cai","orcid":"https://orcid.org/0000-0002-8034-9645"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lilong Cai","raw_affiliation_strings":["The Hong Kong University of Science and Technology,School of Engineering,Department of Mechanical and Aerospace Engineering,Hong Kong SAR,China","Department of Mechanical and Aerospace Engineering, School of Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,School of Engineering,Department of Mechanical and Aerospace Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, School of Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053425386"],"corresponding_institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.6791,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69564677,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"11350","last_page":"11356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"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/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":0.9968000054359436,"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/heading","display_name":"Heading (navigation)","score":0.9040317535400391},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8967759609222412},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6329701542854309},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5589185953140259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5334805250167847},{"id":"https://openalex.org/keywords/dynamic-positioning","display_name":"Dynamic positioning","score":0.5240269303321838},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4724600315093994},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4644109904766083},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43294820189476013},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36334946751594543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3621819019317627},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3403783440589905},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.2121228277683258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1992766261100769},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.16634848713874817},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12867796421051025},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10936346650123596}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.9040317535400391},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8967759609222412},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6329701542854309},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5589185953140259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5334805250167847},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.5240269303321838},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4724600315093994},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4644109904766083},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43294820189476013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36334946751594543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3621819019317627},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3403783440589905},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.2121228277683258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1992766261100769},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.16634848713874817},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12867796421051025},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10936346650123596},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48506.2021.9561908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-113849","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-113849","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-113849","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-113849","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1632338952","https://openalex.org/W2014917749","https://openalex.org/W2023443269","https://openalex.org/W2033446047","https://openalex.org/W2039984557","https://openalex.org/W2056862136","https://openalex.org/W2083480020","https://openalex.org/W2095555102","https://openalex.org/W2098452091","https://openalex.org/W2100805555","https://openalex.org/W2103398491","https://openalex.org/W2138668952","https://openalex.org/W2160862055","https://openalex.org/W2345644119","https://openalex.org/W2492811885","https://openalex.org/W2618970890","https://openalex.org/W2889738019","https://openalex.org/W2967341126","https://openalex.org/W3026829485","https://openalex.org/W3148112112","https://openalex.org/W4230278603","https://openalex.org/W4232628855","https://openalex.org/W4241515449"],"related_works":["https://openalex.org/W2358719579","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W4244052565","https://openalex.org/W2351754530","https://openalex.org/W587013945","https://openalex.org/W575505490","https://openalex.org/W4377235981","https://openalex.org/W2007082754","https://openalex.org/W2007943600"],"abstract_inverted_index":{"In":[0,143],"this":[1],"paper,":[2],"we":[3],"present":[4],"the":[5,16,24,54,60,67,70,75,86,91,96,103,109,116,121,124,128,133,146,154,162,167],"positioning":[6,34,92,125],"control":[7,31,35,126],"problem":[8],"for":[9,36],"underactuated":[10,37],"unmanned":[11],"surface":[12],"vehicles":[13],"(USVs)":[14],"in":[15,153],"presence":[17],"of":[18,33,69,111,123,135,156,166],"unknown":[19],"external":[20],"disturbances,":[21],"such":[22,94],"as":[23],"wind,":[25],"waves,":[26],"and":[27,102,141,158,164],"currents.":[28],"The":[29],"three":[30],"objectives":[32],"USVs":[38],"are,":[39],"firstly,":[40],"to":[41,47,52,57,65,73,84,108,145,160],"retain":[42],"a":[43,48,78],"predefined":[44,97],"constant":[45],"distance":[46],"look-ahead":[49,61,71,87],"point,":[50],"secondly,":[51],"regulate":[53],"vehicle":[55,104],"heading":[56,105],"point":[58,62,72,88],"at":[59,115],"and,":[63],"thirdly,":[64],"update":[66,85],"position":[68,99],"rotate":[74],"USVs.":[76],"Particularly,":[77],"new":[79],"guidance":[80],"rule":[81],"is":[82,100,106,139],"proposed":[83,168],"based":[89],"on":[90],"error":[93,129],"that":[95],"desired":[98],"maintained":[101],"counter":[107],"direction":[110],"resultant":[112,136],"environmental":[113,137],"force":[114,138],"same":[117],"time.":[118],"To":[119],"illustrate":[120],"stability":[122],"system,":[127],"dynamics":[130],"driven":[131],"by":[132],"component":[134],"derived":[140],"analyzed.":[142],"addition":[144],"simulations,":[147],"experiments":[148],"were":[149],"carried":[150],"out":[151],"offshore":[152],"face":[155],"wind":[157],"waves":[159],"verify":[161],"validity":[163],"effectiveness":[165],"method.":[169]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
