{"id":"https://openalex.org/W3202858035","doi":"https://doi.org/10.1109/spac53836.2021.9539937","title":"Integral Backstepping Based ADRC for Path Following of Underactuated Surface Vessel","display_name":"Integral Backstepping Based ADRC for Path Following of Underactuated Surface Vessel","publication_year":2021,"publication_date":"2021-06-18","ids":{"openalex":"https://openalex.org/W3202858035","doi":"https://doi.org/10.1109/spac53836.2021.9539937","mag":"3202858035"},"language":"en","primary_location":{"id":"doi:10.1109/spac53836.2021.9539937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/spac53836.2021.9539937","pdf_url":null,"source":{"id":"https://openalex.org/S4306498851","display_name":"2021 International Conference on Security, Pattern Analysis, and Cybernetics\uff08SPAC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Security, Pattern Analysis, and Cybernetics\uff08SPAC)","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/A5100637991","display_name":"Junyu Chen","orcid":"https://orcid.org/0009-0004-4657-1850"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyu Chen","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048027338","display_name":"Yue Long","orcid":"https://orcid.org/0000-0001-7843-400X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Long","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025349097","display_name":"Tieshan Li","orcid":"https://orcid.org/0000-0003-0474-953X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tieshan Li","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035160808","display_name":"Weiwei Bai","orcid":"https://orcid.org/0000-0002-1374-2228"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Bai","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.15306801,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"260","last_page":"265"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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":0.9921000003814697,"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/backstepping","display_name":"Backstepping","score":0.969202995300293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8690180778503418},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7565336227416992},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5882064700126648},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5521798729896545},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5403904914855957},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5134073495864868},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4992976188659668},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.48045891523361206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45606720447540283},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41780516505241394},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.355580598115921},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30264121294021606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27042829990386963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27004122734069824},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.21797558665275574},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.20093533396720886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11424615979194641},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11115136742591858}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.969202995300293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8690180778503418},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7565336227416992},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5882064700126648},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5521798729896545},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5403904914855957},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5134073495864868},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4992976188659668},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.48045891523361206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45606720447540283},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41780516505241394},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.355580598115921},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30264121294021606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27042829990386963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27004122734069824},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.21797558665275574},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.20093533396720886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11424615979194641},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11115136742591858},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/spac53836.2021.9539937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/spac53836.2021.9539937","pdf_url":null,"source":{"id":"https://openalex.org/S4306498851","display_name":"2021 International Conference on Security, Pattern Analysis, and Cybernetics\uff08SPAC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Security, Pattern Analysis, and Cybernetics\uff08SPAC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G680750014","display_name":null,"funder_award_id":"61773187,51939001,61976033,61903092","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W199912021","https://openalex.org/W1590684588","https://openalex.org/W2004765767","https://openalex.org/W2043355089","https://openalex.org/W2097696157","https://openalex.org/W2118081656","https://openalex.org/W2135493101","https://openalex.org/W2155614720","https://openalex.org/W2478761517","https://openalex.org/W2762304185","https://openalex.org/W2773591305","https://openalex.org/W2906085673","https://openalex.org/W2945494979","https://openalex.org/W2980563156","https://openalex.org/W3084029083","https://openalex.org/W3144998809","https://openalex.org/W6674942416"],"related_works":["https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W3177256865","https://openalex.org/W2378628179","https://openalex.org/W2382713386","https://openalex.org/W1973298112","https://openalex.org/W2392266503"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,48,72],"realize":[3],"the":[4,8,35,39,45,50,74,78,83,93,100],"path":[5],"following":[6],"of":[7,38,99],"under-actuated":[9],"surface":[10],"vessel":[11,40],"with":[12],"model":[13],"parameter":[14],"uncertainties":[15],"and":[16,65,77],"external":[17],"disturbances,":[18],"an":[19,66],"integral":[20,67],"backstepping":[21,68],"method":[22],"based":[23],"active":[24,60],"disturbance":[25,61],"rejection":[26,62],"control":[27,63,69,73,102],"strategy":[28,103],"is":[29,41,85,104],"proposed":[30,101],"in":[31],"this":[32],"paper.":[33],"Firstly,":[34],"tracking":[36,44,49],"target":[37],"reduced":[42],"from":[43],"earth-fixed":[46],"position":[47],"integralline-of-sight":[51],"(Integral":[52],"LOS)":[53],"angle":[54,76],"by":[55,87],"Integral":[56],"LOS":[57],"method.":[58],"Secondly,":[59],"(ADRC)":[64],"are":[70],"combined":[71],"heading":[75],"longitudinal":[79],"velocity":[80],"respectively,":[81],"then":[82],"stability":[84,90],"proved":[86],"using":[88],"Lyapunov":[89],"theory.":[91],"Finally,":[92],"simulation":[94],"results":[95],"show":[96],"that":[97],"effectiveness":[98],"verified.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
