{"id":"https://openalex.org/W4408323720","doi":"https://doi.org/10.1109/jiot.2025.3550376","title":"Design, Simulation, and Field Testing of an Intelligent Control Algorithm Based on Event-Triggered and Nonlinear MPC for USVs","display_name":"Design, Simulation, and Field Testing of an Intelligent Control Algorithm Based on Event-Triggered and Nonlinear MPC for USVs","publication_year":2025,"publication_date":"2025-03-11","ids":{"openalex":"https://openalex.org/W4408323720","doi":"https://doi.org/10.1109/jiot.2025.3550376"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3550376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3550376","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5104346448","display_name":"Jiabao Hu","orcid":"https://orcid.org/0009-0001-2790-9295"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabao Hu","raw_affiliation_strings":["School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0009-0001-2790-9295","affiliations":[{"raw_affiliation_string":"School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101531131","display_name":"Xiaofei Yang","orcid":"https://orcid.org/0000-0002-7767-7138"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofei Yang","raw_affiliation_strings":["School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-7767-7138","affiliations":[{"raw_affiliation_string":"School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093203907","display_name":"Mengmeng Lou","orcid":"https://orcid.org/0009-0000-5662-9770"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengmeng Lou","raw_affiliation_strings":["School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0009-0000-5662-9770","affiliations":[{"raw_affiliation_string":"School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039490048","display_name":"Hui Ye","orcid":"https://orcid.org/0000-0002-0734-9059"},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Ye","raw_affiliation_strings":["School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-0734-9059","affiliations":[{"raw_affiliation_string":"School of Automation, Jiangsu University of Science and Technology, Zhenjiang, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067323219","display_name":"Hao Shen","orcid":"https://orcid.org/0000-0001-7024-6573"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Shen","raw_affiliation_strings":["School of Electrical and Information Engineering, Anhui University of Technology, Maanshan, China"],"raw_orcid":"https://orcid.org/0000-0001-7024-6573","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Anhui University of Technology, Maanshan, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049343299","display_name":"Zhengrong Xiang","orcid":"https://orcid.org/0000-0002-0869-5471"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengrong Xiang","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-0869-5471","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2046,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96090819,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"12","issue":"12","first_page":"22155","last_page":"22167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9672999978065491,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9672999978065491,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9199000000953674,"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/computer-science","display_name":"Computer science","score":0.7662597894668579},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6124656200408936},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5344803333282471},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.4691896438598633},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45357194542884827},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.42067745327949524}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7662597894668579},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6124656200408936},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5344803333282471},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.4691896438598633},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45357194542884827},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.42067745327949524},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3550376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3550376","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1553568437","display_name":null,"funder_award_id":"KYCX24_4095","funder_id":"https://openalex.org/F4320334982","funder_display_name":"Basic Research Program of Jiangsu Province"},{"id":"https://openalex.org/G3234850316","display_name":null,"funder_award_id":"62203191","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"},{"id":"https://openalex.org/F4320334982","display_name":"Basic Research Program of Jiangsu Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2178717440","https://openalex.org/W2306471128","https://openalex.org/W2521613767","https://openalex.org/W2923724424","https://openalex.org/W3007448106","https://openalex.org/W3016335463","https://openalex.org/W3023077548","https://openalex.org/W3043181034","https://openalex.org/W3095022639","https://openalex.org/W3171453668","https://openalex.org/W3217449891","https://openalex.org/W4283707298","https://openalex.org/W4296438164","https://openalex.org/W4304690300","https://openalex.org/W4306377849","https://openalex.org/W4312242977","https://openalex.org/W4321021722","https://openalex.org/W4321488020","https://openalex.org/W4321609297","https://openalex.org/W4379781692","https://openalex.org/W4382119234","https://openalex.org/W4385976206","https://openalex.org/W4386275683","https://openalex.org/W4387918015","https://openalex.org/W4392481416","https://openalex.org/W4392808196","https://openalex.org/W4392845211","https://openalex.org/W4399387796","https://openalex.org/W4399452073","https://openalex.org/W4400275721","https://openalex.org/W4400348496","https://openalex.org/W4400991184","https://openalex.org/W4402262939","https://openalex.org/W4403295422"],"related_works":["https://openalex.org/W2393888177","https://openalex.org/W2544423928","https://openalex.org/W2117183908","https://openalex.org/W2115794623","https://openalex.org/W2360264381","https://openalex.org/W4406345323","https://openalex.org/W2067173559","https://openalex.org/W2148738811","https://openalex.org/W1613730747","https://openalex.org/W2541389358"],"abstract_inverted_index":{"The":[0,70],"design,":[1],"simulation,":[2],"and":[3,26,46,85,121,135,148],"testing":[4],"of":[5,49,82,88],"intelligent":[6],"trajectory-tracking":[7],"control":[8,59,87],"in":[9,28],"narrow":[10,29],"waters":[11],"are":[12,75],"essential":[13],"issues":[14],"for":[15,34],"unmanned":[16],"surface":[17],"vehicles":[18],"(USVs).":[19],"Due":[20],"to":[21,43,90,100,116],"limited":[22],"actuators,":[23],"spatial":[24],"constraints,":[25],"obstacles":[27],"waters,":[30],"the":[31,44,78,92,118,123,126,140,149],"reference":[32,64,72,83],"trajectory":[33,50,65,80,84],"USVs":[35,89],"has":[36],"various":[37],"curves.":[38],"This":[39],"presents":[40],"significant":[41,130],"challenges":[42],"accuracy":[45],"computational":[47],"load":[48],"tracking.":[51],"Therefore,":[52],"a":[53,105],"novel":[54],"event-triggered-based":[55],"nonlinear":[56],"model":[57],"predictive":[58],"(NMPC)":[60],"with":[61],"an":[62],"artificial":[63,71],"(ENMPC-ART)":[66],"method":[67],"is":[68,98,114],"proposed.":[69],"decision":[73],"variables":[74],"integrated":[76],"into":[77],"quadratic":[79],"planning":[81],"motion":[86],"reduce":[91],"cross-track":[93,142],"error.":[94],"An":[95],"event-triggered":[96],"mechanism":[97],"designed":[99,115],"improve":[101],"NMPC\u2019s":[102],"efficiency.":[103],"Further,":[104],"cyber-physical":[106],"simulation":[107],"test":[108],"framework":[109],"based":[110],"on":[111],"virtual":[112,133],"reality":[113],"verify":[117],"algorithm\u2019s":[119],"performance":[120],"enhance":[122],"immersion.":[124],"Finally,":[125],"proposed":[127],"ENMPC-ART":[128],"shows":[129],"improvements":[131],"through":[132],"simulations":[134],"field":[136],"tests,":[137],"such":[138],"as":[139],"maximum":[141],"error":[143],"being":[144,152],"reduced":[145,153],"by":[146,154],"16%":[147],"computation":[150],"time":[151],"20.2%.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}
