{"id":"https://openalex.org/W4390099925","doi":"https://doi.org/10.1109/robio58561.2023.10354777","title":"Backstepping sliding mode stabilization controller for underactuated unmanned surface vehicle based on disturbance observer","display_name":"Backstepping sliding mode stabilization controller for underactuated unmanned surface vehicle based on disturbance observer","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099925","doi":"https://doi.org/10.1109/robio58561.2023.10354777"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354777","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354777","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5102596106","display_name":"Zhenzhen Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I1311643757","display_name":"Commercial Aircraft Corporation of China (China)","ror":"https://ror.org/05gxmms51","country_code":"CN","type":"company","lineage":["https://openalex.org/I1311643757"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhen Tan","raw_affiliation_strings":["COMAC Shanghai Aircraft Design and Research Institute,Shanghai,China","COMAC Shanghai Aircraft Design and Research Institute, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"COMAC Shanghai Aircraft Design and Research Institute,Shanghai,China","institution_ids":["https://openalex.org/I1311643757"]},{"raw_affiliation_string":"COMAC Shanghai Aircraft Design and Research Institute, Shanghai, China","institution_ids":["https://openalex.org/I1311643757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113261004","display_name":"Wangjie Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]},{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wangjie Zhou","raw_affiliation_strings":["School of Artifical Intelligence Shanghai University, Shanghai University,Shanghai,China","School of Artifical Intelligence Shanghai University, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artifical Intelligence Shanghai University, Shanghai University,Shanghai,China","institution_ids":["https://openalex.org/I113940042","https://openalex.org/I141962983"]},{"raw_affiliation_string":"School of Artifical Intelligence Shanghai University, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428821","display_name":"Jie Chen","orcid":"https://orcid.org/0000-0003-3171-1887"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Chen","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077280903","display_name":"Yang Xian","orcid":"https://orcid.org/0000-0002-1018-2309"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Xian","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100406696","display_name":"Quan Zhang","orcid":"https://orcid.org/0000-0003-0250-7174"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Zhang","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100408802","display_name":"Long Li","orcid":"https://orcid.org/0000-0003-1973-8550"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Li","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058828089","display_name":"Tao Yue","orcid":"https://orcid.org/0000-0003-3262-5577"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Yue","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030713680","display_name":"Yingzhong Tian","orcid":"https://orcid.org/0000-0003-2494-8667"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingzhong Tian","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002432703","display_name":"Sicheng Yi","orcid":"https://orcid.org/0000-0002-5461-2120"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sicheng Yi","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineer and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineer and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20956547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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":0.9991000294685364,"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":0.9991000294685364,"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":0.994700014591217,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9905999898910522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.9020727276802063},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8962560892105103},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8686949014663696},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6692466139793396},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.548502504825592},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5335953831672668},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.44447410106658936},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.427223801612854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30617380142211914},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17820397019386292},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.17710256576538086},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14060825109481812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09355291724205017},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06169953942298889}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9020727276802063},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8962560892105103},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8686949014663696},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6692466139793396},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.548502504825592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5335953831672668},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.44447410106658936},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.427223801612854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30617380142211914},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17820397019386292},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.17710256576538086},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14060825109481812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09355291724205017},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06169953942298889},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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/robio58561.2023.10354777","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354777","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8600000143051147,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2024864644","https://openalex.org/W2066809101","https://openalex.org/W2094156061","https://openalex.org/W2196614820","https://openalex.org/W2801588410","https://openalex.org/W2991613924","https://openalex.org/W3009172757","https://openalex.org/W3009692813","https://openalex.org/W3137187885","https://openalex.org/W3197475526","https://openalex.org/W4226062801","https://openalex.org/W4283737334","https://openalex.org/W4293776629","https://openalex.org/W4296125462","https://openalex.org/W4376139506"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W2790201508","https://openalex.org/W2036311230","https://openalex.org/W4387960131","https://openalex.org/W4313405128"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,53,58,68,73,78,96,104,115,120,126,130],"stabilization":[4,54,122],"control":[5,47,55,97,123,133],"of":[6,16,80,95,107],"underactuated":[7,17],"Unmanned":[8],"Surface":[9],"Vehicles":[10],"(USV).":[11],"Firstly,":[12],"a":[13,28,83],"three-degree-of-freedom":[14],"(3-DOF)":[15],"USV":[18,40,81,121],"in":[19,77,129],"complex":[20],"sea":[21],"conditions":[22],"is":[23,41,49,64,91,99],"established.":[24],"On":[25],"this":[26],"basis,":[27],"backstepping":[29,44],"sliding":[30,45,62,131],"mode":[31,46,63,132],"stability":[32],"controller":[33,69,117],"based":[34,87],"on":[35,88],"disturbance":[36,76,85],"observer":[37,86],"(BSMC-NDC)":[38],"for":[39],"designed.":[42,92],"The":[43,93],"strategy":[48],"used":[50,65],"to":[51,66],"achieve":[52,119],"effect,":[56],"and":[57,124],"hyperbolic":[59],"tangent":[60],"continuous":[61],"reduce":[67],"jitter.":[70],"Aiming":[71],"at":[72],"complicated":[74],"ocean":[75],"process":[79],"stabilization,":[82],"3-DOF":[84],"exponential":[89],"convergence":[90],"effectiveness":[94],"system":[98],"fully":[100],"verfied":[101],"by":[102],"comparing":[103],"simulation":[105,111],"results":[106,112],"similar":[108],"controllers.":[109],"Specifically,":[110],"show":[113],"that":[114],"proposed":[116],"can":[118],"solve":[125],"jitter":[127],"problem":[128],"process.":[134]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}