{"id":"https://openalex.org/W3212810184","doi":"https://doi.org/10.1109/iecon48115.2021.9589350","title":"Trajectory Planning and Sliding-Mode Velocity Control for an Under-Actuated Hovercraft Vehicle","display_name":"Trajectory Planning and Sliding-Mode Velocity Control for an Under-Actuated Hovercraft Vehicle","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W3212810184","doi":"https://doi.org/10.1109/iecon48115.2021.9589350","mag":"3212810184"},"language":"en","primary_location":{"id":"doi:10.1109/iecon48115.2021.9589350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th 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/A5078536511","display_name":"Lukas Pr\u00f6hl","orcid":"https://orcid.org/0000-0002-3172-092X"},"institutions":[{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lukas Prohl","raw_affiliation_strings":["Chair of Mechatronics University of Rostock, Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Mechatronics University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061788743","display_name":"Harald Aschemann","orcid":"https://orcid.org/0000-0001-7789-5699"},"institutions":[{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Harald Aschemann","raw_affiliation_strings":["Chair of Mechatronics University of Rostock, Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Mechatronics University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5078536511"],"corresponding_institution_ids":["https://openalex.org/I4665924"],"apc_list":null,"apc_paid":null,"fwci":0.1373,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.46694062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9995999932289124,"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":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7951053977012634},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7849414348602295},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7080320119857788},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6526408195495605},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5751760601997375},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5413796901702881},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5325525999069214},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5242645740509033},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4883701205253601},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.48247554898262024},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44751429557800293},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4405583441257477},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3820563554763794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36143893003463745},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1723487377166748},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1536954641342163},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.14385566115379333},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12678059935569763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06292465329170227}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7951053977012634},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7849414348602295},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7080320119857788},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6526408195495605},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5751760601997375},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5413796901702881},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5325525999069214},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5242645740509033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4883701205253601},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.48247554898262024},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44751429557800293},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4405583441257477},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3820563554763794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36143893003463745},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1723487377166748},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1536954641342163},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.14385566115379333},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12678059935569763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06292465329170227},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon48115.2021.9589350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon48115.2021.9589350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2021 \u2013 47th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W84653744","https://openalex.org/W1590684588","https://openalex.org/W1754773615","https://openalex.org/W1981370199","https://openalex.org/W1997683014","https://openalex.org/W2100510662","https://openalex.org/W2140798601","https://openalex.org/W3153297174"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W2286391053","https://openalex.org/W4293094921","https://openalex.org/W2982600058"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,54,74],"sliding-mode":[4],"approach":[5],"for":[6,25,37],"the":[7,12,41,45,60],"robust":[8],"tracking":[9],"control":[10,47,63],"of":[11,15,44,59,73],"body-fixed":[13],"velocities":[14],"an":[16,26,70],"underactuated":[17],"hovercraft":[18],"vehicle.":[19,77],"Pontryagin\u2019s":[20],"Maximum":[21],"Principle":[22],"is":[23,65],"applied":[24],"optimal":[27,32],"trajectory":[28],"planning":[29],"\u2013":[30],"providing":[31],"state":[33],"and":[34,51],"input":[35],"variables":[36],"feedforward":[38],"control.":[39],"Moreover,":[40],"design-related":[42],"cross-couplings":[43],"two":[46],"inputs":[48],"are":[49],"analysed":[50],"addressed":[52],"by":[53,67],"heuristic":[55],"approach.":[56],"The":[57],"performance":[58],"proposed":[61],"nonlinear":[62],"structure":[64],"investigated":[66],"simulations":[68],"using":[69],"identified":[71],"model":[72],"corresponding":[75],"experimental":[76]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
