{"id":"https://openalex.org/W1521039165","doi":"https://doi.org/10.1109/iecon.2014.7048501","title":"Nonlinear path tracking control of underactuated surface vessel by LSSVM-based identification","display_name":"Nonlinear path tracking control of underactuated surface vessel by LSSVM-based identification","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W1521039165","doi":"https://doi.org/10.1109/iecon.2014.7048501","mag":"1521039165"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2014.7048501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2014.7048501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society","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/A5039851941","display_name":"Zhilin Liu","orcid":"https://orcid.org/0000-0003-4087-4901"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhilin Liu","raw_affiliation_strings":["College of Automation, Harbin Engineering University Harbin, China","College of automation, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"College of automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036926068","display_name":"Lutao Liu","orcid":"https://orcid.org/0000-0003-1090-3417"},"institutions":[{"id":"https://openalex.org/I1308199089","display_name":"Harbin University","ror":"https://ror.org/00ey9xa07","country_code":"CN","type":"education","lineage":["https://openalex.org/I1308199089"]},{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lutao Liu","raw_affiliation_strings":["College of Information, Harbin Engineering University Harbin, China","College of Information, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Information, Harbin Engineering University Harbin, China","institution_ids":["https://openalex.org/I151727225","https://openalex.org/I1308199089"]},{"raw_affiliation_string":"College of Information, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100433255","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0003-1760-1702"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China","School of Electrical & Information Engineering, Jiangsu University,Zhenjiang,China"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]},{"raw_affiliation_string":"School of Electrical & Information Engineering, Jiangsu University,Zhenjiang,China","institution_ids":["https://openalex.org/I115592961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039851941"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.03470743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"144","issue":null,"first_page":"209","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9984999895095825,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9886000156402588,"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":0.8598660230636597},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7703874111175537},{"id":"https://openalex.org/keywords/riccati-equation","display_name":"Riccati equation","score":0.5375127196311951},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5279620885848999},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5248404145240784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49046680331230164},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.48707130551338196},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48466187715530396},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30729591846466064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18704289197921753},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13941511511802673},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.10064500570297241}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8598660230636597},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7703874111175537},{"id":"https://openalex.org/C45473103","wikidata":"https://www.wikidata.org/wiki/Q851503","display_name":"Riccati equation","level":3,"score":0.5375127196311951},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5279620885848999},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5248404145240784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49046680331230164},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.48707130551338196},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48466187715530396},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30729591846466064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18704289197921753},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13941511511802673},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.10064500570297241},{"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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2014.7048501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2014.7048501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W130364663","https://openalex.org/W1590684588","https://openalex.org/W1966646642","https://openalex.org/W1967122060","https://openalex.org/W1974689472","https://openalex.org/W1977808185","https://openalex.org/W1978996791","https://openalex.org/W1988474804","https://openalex.org/W2001738174","https://openalex.org/W2009127079","https://openalex.org/W2030766364","https://openalex.org/W2042994047","https://openalex.org/W2103318794","https://openalex.org/W2118081656","https://openalex.org/W2129927167","https://openalex.org/W2148974871","https://openalex.org/W2164773393","https://openalex.org/W2613993106","https://openalex.org/W6605266510","https://openalex.org/W6641993000","https://openalex.org/W6737383827"],"related_works":["https://openalex.org/W2899893118","https://openalex.org/W4313405128","https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W2026490863","https://openalex.org/W1996877595","https://openalex.org/W2366743900","https://openalex.org/W2389929639","https://openalex.org/W2369313712","https://openalex.org/W2380496977"],"abstract_inverted_index":{"A":[0,74],"fully":[1],"instrumented":[2],"surface":[3,20,63],"vessel":[4,21,64],"involving":[5],"underactuated":[6,19],"structure":[7],"was":[8],"designed.":[9],"The":[10,29,92],"problem":[11],"of":[12,17,94,99,113],"straight":[13],"line":[14],"course":[15],"tracking":[16,37,42,75],"the":[18,36,40,49,89,97,100,111,114],"at":[22],"a":[23],"constant":[24],"forward":[25],"speed":[26],"is":[27,32,59,85],"addressed.":[28],"Serret-Frenet":[30],"frame":[31],"used":[33],"to":[34,61,87,109],"define":[35],"error,":[38],"therefore":[39],"position":[41],"errors":[43],"could":[44],"be":[45],"stabilized":[46],"by":[47],"stabilizing":[48],"single":[50],"distance":[51],"error.":[52],"Least":[53],"Squares":[54],"Support":[55],"Vector":[56],"Machines":[57],"(LSSVM)":[58],"proposed":[60,86,115],"identify":[62],"based":[65,77],"on":[66,78],"free-running":[67],"model":[68],"tests":[69],"and":[70,104],"full-scale":[71],"trials,":[72],"respectively.":[73],"controller":[76],"State-Dependent-Riccati":[79],"Equation":[80],"(SDRE)":[81],"optimizing":[82],"control":[83],"method":[84],"solve":[88],"challenging":[90],"problem.":[91],"characteristic":[93],"SDRE":[95],"guarantees":[96],"stability":[98],"closed-loop":[101],"system.":[102],"Simulation":[103],"experiments":[105],"results":[106],"are":[107],"presented":[108],"validate":[110],"effectiveness":[112],"method.":[116]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}