{"id":"https://openalex.org/W2908073173","doi":"https://doi.org/10.1109/iecon.2018.8592742","title":"Discrete-time Path Tracking Control of Multiple UUVs Based on Virtual Leader under Time Varying Delay","display_name":"Discrete-time Path Tracking Control of Multiple UUVs Based on Virtual Leader under Time Varying Delay","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908073173","doi":"https://doi.org/10.1109/iecon.2018.8592742","mag":"2908073173"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2018.8592742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2018.8592742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society","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/A5017411379","display_name":"Zheping Yan","orcid":"https://orcid.org/0000-0002-5598-0275"},"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":false,"raw_author_name":"Zheping Yan","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"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/A5070041954","display_name":"Zewen Yang","orcid":"https://orcid.org/0000-0001-9974-3231"},"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":false,"raw_author_name":"Zewen Yang","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"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/A5101862491","display_name":"Di Wu","orcid":"https://orcid.org/0000-0002-5138-9453"},"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":false,"raw_author_name":"Di Wu","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"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/A5100364363","display_name":"Lu Wang","orcid":"https://orcid.org/0000-0001-5099-0522"},"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":false,"raw_author_name":"Lu Wang","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"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/A5101514518","display_name":"Yi Wu","orcid":"https://orcid.org/0000-0002-8268-2548"},"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":false,"raw_author_name":"Yi Wu","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103222435","display_name":"Jiyun Li","orcid":"https://orcid.org/0000-0001-9469-3079"},"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":false,"raw_author_name":"Jiyun Li","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151727225"],"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":"14","issue":null,"first_page":"2280","last_page":"2287"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9987000226974487,"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":0.9965000152587891,"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/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.8050913214683533},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6957060098648071},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6224353313446045},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565170049667358},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.529589831829071},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5133625864982605},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4997425079345703},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.47812214493751526},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4646095335483551},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.461281955242157},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.44707128405570984},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.44694870710372925},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4465814530849457},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43290746212005615},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4225746989250183},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38529086112976074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23183631896972656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2258303463459015},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20487892627716064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11409753561019897},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0653957724571228}],"concepts":[{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.8050913214683533},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6957060098648071},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6224353313446045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565170049667358},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.529589831829071},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5133625864982605},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4997425079345703},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.47812214493751526},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4646095335483551},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.461281955242157},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.44707128405570984},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.44694870710372925},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4465814530849457},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43290746212005615},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4225746989250183},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38529086112976074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23183631896972656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2258303463459015},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20487892627716064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11409753561019897},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0653957724571228},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iecon.2018.8592742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2018.8592742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1633336","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1633336","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W857440326","https://openalex.org/W1630241696","https://openalex.org/W1773556028","https://openalex.org/W1973573057","https://openalex.org/W1991222255","https://openalex.org/W2003163867","https://openalex.org/W2007259966","https://openalex.org/W2015410655","https://openalex.org/W2032803680","https://openalex.org/W2036316876","https://openalex.org/W2047749749","https://openalex.org/W2051384576","https://openalex.org/W2052401157","https://openalex.org/W2057770661","https://openalex.org/W2064193105","https://openalex.org/W2078811174","https://openalex.org/W2083205579","https://openalex.org/W2089192852","https://openalex.org/W2099175737","https://openalex.org/W2119828030","https://openalex.org/W2121521405","https://openalex.org/W2164313740","https://openalex.org/W2336243193","https://openalex.org/W2344327672","https://openalex.org/W2492811885","https://openalex.org/W2513425365","https://openalex.org/W2527081555","https://openalex.org/W2609557462","https://openalex.org/W2613516052","https://openalex.org/W2733753647","https://openalex.org/W2754408262","https://openalex.org/W2759084312","https://openalex.org/W2779385602","https://openalex.org/W2783146806","https://openalex.org/W2789366416","https://openalex.org/W4243457704","https://openalex.org/W6740279354","https://openalex.org/W6745260889","https://openalex.org/W6748625901","https://openalex.org/W6999574043","https://openalex.org/W7062150338"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W4300511988","https://openalex.org/W2317650444","https://openalex.org/W130230158","https://openalex.org/W2165424018","https://openalex.org/W2913529325"],"abstract_inverted_index":{"The":[0],"multiple":[1,28],"UUVs(unmanned":[2],"underwater":[3],"vehicles)":[4],"can":[5],"maintain":[6],"a":[7,36],"certain":[8],"formation":[9],"and":[10,58,72,95,101],"complete":[11],"the":[12,19,25,53,73,82,89,96,105,109,112,118,128,132],"designated":[13],"route":[14],"cruise":[15],"mission":[16],"by":[17,67,117],"using":[18,68],"path":[20,30,37,83],"tracking":[21,31,38,84],"controller.":[22],"According":[23],"to":[24,127],"problem":[26],"of":[27,91,111,123],"UUV":[29,56,125],"under":[32,76,131],"discrete":[33,77],"information":[34],"conditions,":[35],"controller":[39,85],"based":[40,103],"on":[41,104],"virtual":[42],"leader":[43],"is":[44,79,86,115],"proposed":[45,102,113],"in":[46,88],"this":[47],"paper":[48],"considering":[49],"communication":[50],"delays.":[51],"Firstly,":[52],"coupled":[54],"nonlinear":[55],"kinematics":[57],"dynamics":[59],"equations":[60],"are":[61,99],"transformed":[62],"into":[63],"second-order":[64],"affine":[65],"forms":[66],"feedback":[69],"linearization":[70],"method,":[71],"mathematical":[74],"model":[75],"time":[78,93],"given.":[80],"Secondly,":[81],"designed":[87],"case":[90],"bounded":[92],"delays,":[94],"sufficient":[97],"conditions":[98],"analyzed":[100],"matrix":[106],"theory.":[107],"Finally,":[108],"effectiveness":[110],"algorithm":[114],"proved":[116],"simulation":[119],"experiments,":[120],"all":[121],"trajectories":[122,130],"each":[124],"converge":[126],"desired":[129],"specific":[133],"formation.":[134]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}