{"id":"https://openalex.org/W4285117715","doi":"https://doi.org/10.1109/tase.2022.3182720","title":"Programming-Based Optimal Learning Sliding Mode Control for Cooperative Dual Ship-Mounted Cranes Against Unmatched External Disturbances","display_name":"Programming-Based Optimal Learning Sliding Mode Control for Cooperative Dual Ship-Mounted Cranes Against Unmatched External Disturbances","publication_year":2022,"publication_date":"2022-06-16","ids":{"openalex":"https://openalex.org/W4285117715","doi":"https://doi.org/10.1109/tase.2022.3182720"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3182720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3182720","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5014310414","display_name":"Yuzhe Qian","orcid":"https://orcid.org/0000-0002-9734-2132"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhe Qian","raw_affiliation_strings":["College of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-9734-2132","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066836055","display_name":"Die Hu","orcid":"https://orcid.org/0000-0002-1564-6272"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Die Hu","raw_affiliation_strings":["College of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-1564-6272","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074794339","display_name":"Yuzhu Chen","orcid":"https://orcid.org/0000-0001-8084-5799"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhu Chen","raw_affiliation_strings":["College of Artificial Intelligence, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8084-5799","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["College of Artificial Intelligence, Institute of Robotics and Automatic Information System (IRAIS), and the Tianjin Key Laboratory of Intelligent Robotics (tjKLIR), Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Institute of Robotics and Automatic Information System (IRAIS), and the Tianjin Key Laboratory of Intelligent Robotics (tjKLIR), Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.1607,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.96205494,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"20","issue":"2","first_page":"969","last_page":"980"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9986000061035156,"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":0.9986000061035156,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.6651376485824585},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6372997760772705},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5673046708106995},{"id":"https://openalex.org/keywords/dual-mode","display_name":"Dual mode","score":0.5017092227935791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4819759726524353},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46742767095565796},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4521295726299286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44904860854148865},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4380263090133667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1915062665939331},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11853700876235962},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11056265234947205},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10467788577079773}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6651376485824585},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6372997760772705},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5673046708106995},{"id":"https://openalex.org/C3019325349","wikidata":"https://www.wikidata.org/wiki/Q3874753","display_name":"Dual mode","level":2,"score":0.5017092227935791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4819759726524353},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46742767095565796},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4521295726299286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44904860854148865},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4380263090133667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1915062665939331},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11853700876235962},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11056265234947205},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10467788577079773},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","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},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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/tase.2022.3182720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3182720","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G7077305719","display_name":null,"funder_award_id":"F2020202058","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G8874671549","display_name":null,"funder_award_id":"62103128","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/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1564897360","https://openalex.org/W1573503290","https://openalex.org/W1977193206","https://openalex.org/W2003409951","https://openalex.org/W2035003264","https://openalex.org/W2089904313","https://openalex.org/W2108286682","https://openalex.org/W2151304226","https://openalex.org/W2157837338","https://openalex.org/W2164114367","https://openalex.org/W2233820047","https://openalex.org/W2507164468","https://openalex.org/W2537996718","https://openalex.org/W2611533758","https://openalex.org/W2611756877","https://openalex.org/W2611833022","https://openalex.org/W2626457025","https://openalex.org/W2761963778","https://openalex.org/W2767758861","https://openalex.org/W2775527957","https://openalex.org/W2791241747","https://openalex.org/W2809018927","https://openalex.org/W2810591245","https://openalex.org/W2898423877","https://openalex.org/W2901112449","https://openalex.org/W2914172002","https://openalex.org/W2944575527","https://openalex.org/W2980245120","https://openalex.org/W2980834455","https://openalex.org/W2982022743","https://openalex.org/W2998800152","https://openalex.org/W3000678188","https://openalex.org/W3013423913","https://openalex.org/W3046988891","https://openalex.org/W3087081411","https://openalex.org/W3096244733","https://openalex.org/W3106699670","https://openalex.org/W3119021025","https://openalex.org/W3124394965","https://openalex.org/W3126159626","https://openalex.org/W3128501144","https://openalex.org/W3149819037","https://openalex.org/W3152890622","https://openalex.org/W3158858576","https://openalex.org/W6634288218"],"related_works":["https://openalex.org/W2317351040","https://openalex.org/W2952466936","https://openalex.org/W1988622314","https://openalex.org/W2393949104","https://openalex.org/W2392631856","https://openalex.org/W2355651228","https://openalex.org/W2330491326","https://openalex.org/W2768219827","https://openalex.org/W1992581387","https://openalex.org/W4254025658"],"abstract_inverted_index":{"When":[0],"lifting":[1,234],"and":[2,28,36,73,147,158,227,235,331,365],"transporting":[3],"large":[4],"payloads":[5],"in":[6,110],"the":[7,10,34,57,69,74,95,115,121,131,143,148,169,184,187,199,218,223,228,232,238,241,254,316,328,344,350],"marine":[8],"environment,":[9],"dual":[11,78,170,206,224,242,271,300,356],"ship-mounted":[12,79,171,207,225,243,272,301,357],"crane":[13,71,80,280],"system":[14,81,209],"plays":[15],"a":[16,66,175,203,295],"very":[17,246],"important":[18],"role":[19],"for":[20,270,299],"cargos":[21],"transportation,":[22],"which":[23,51],"exhibits":[24],"strong":[25],"load":[26],"capacity":[27],"high":[29],"flexibility.":[30],"However,":[31],"apart":[32],"from":[33,304],"nonlinearity":[35],"underactuation":[37],"characteristic,":[38],"some":[39],"unknown":[40],"or":[41,278,282],"uncertain":[42],"unmatched":[43,211,305,337],"wave":[44,212,236,306,338],"disturbances":[45,307,339],"may":[46,52],"also":[47],"cause":[48],"positioning":[49,330],"errors,":[50],"induce":[53],"various":[54],"risks":[55],"during":[56],"transportation":[58],"process;":[59],"besides,":[60],"lots":[61],"of":[62,68,77,85,94,117,168,177,186,202,222,240,256,259,290,315],"existing":[63],"methods":[64,269],"ignore":[65],"part":[67],"cooperative":[70,233],"motions,":[72],"control":[75,200,268,297,352],"issue":[76],"with":[82,210],"five":[83],"degrees":[84],"freedoms":[86],"(5":[87],"DOF)":[88],"is":[89,108,214,321],"still":[90],"open.":[91],"In":[92,343],"terms":[93],"aforementioned":[96],"problems,":[97,291],"an":[98],"adaptive":[99,118],"dynamic":[100,119],"programming":[101],"(ADP)-based":[102],"optimal":[103,150,189],"learning":[104,151,190],"sliding":[105,191],"mode":[106,192],"controller":[107,152,260],"proposed":[109,188,351],"this":[111,197,257,292],"paper.":[112],"Specifically,":[113],"under":[114],"frame":[116],"programming,":[120],"Hamilton-Jacobi-Bellman":[122],"(HJB)":[123],"equation":[124],"can":[125,153],"be":[126,154],"addressed.":[127],"Then,":[128],"based":[129,275],"on":[130,142,276],"gradient":[132],"attenuation":[133],"algorithm,":[134],"critic":[135],"neural":[136],"networks":[137],"(NNs)":[138],"are":[139,162,180,245,274,340],"trained":[140],"depending":[141],"designed":[144],"updating":[145],"law":[146],"approximate":[149],"obtained.":[155],"Lyapunov":[156,324],"techniques":[157],"Lasalle\u2019s":[159],"invariance":[160],"principle":[161],"used":[163],"to":[164,182,195,217,230,253,262,308,354,360],"guarantee":[165],"asymptotic":[166],"stability":[167,313],"cranes":[172,208,226,244,273,302,358],"system.":[173],"Finally,":[174],"series":[176],"simulation":[178],"results":[179],"depicted":[181],"show":[183],"effectiveness":[185],"controller.":[193],"Note":[194],"Practitioners\u2014In":[196],"paper,":[198],"problem":[201],"5":[204],"DOF":[205],"disturbance":[213],"studied.":[215],"Due":[216],"complex":[219],"nonlinear":[220,264],"characteristics":[221],"need":[229],"consider":[231],"disturbances,":[237],"operation":[239],"challenging.":[247],"Moreover,":[248],"it":[249],"brings":[250],"more":[251],"difficulties":[252],"design":[255],"kind":[258],"due":[261],"its":[263],"underactuated":[265],"property.":[266],"Existing":[267],"linearized":[277],"oversimplified":[279],"models,":[281],"require":[283],"accurate":[284,329],"model.":[285],"To":[286],"solve":[287],"these":[288],"kinds":[289],"paper":[293],"proposes":[294],"new":[296],"approach":[298],"suffering":[303],"achieve":[309],"satisfactory":[310],"performance.":[311],"The":[312],"analysis":[314],"closed-loop":[317],"systems":[318,359],"equilibrium":[319],"point":[320],"implemented":[322],"by":[323],"techniques,":[325],"implying":[326],"that":[327],"fast":[332],"payload":[333],"swings":[334],"suppression":[335],"against":[336],"achieved":[341],"concurrently.":[342],"future":[345],"studies,":[346],"we":[347],"will":[348],"apply":[349],"method":[353],"industrial":[355],"improve":[361],"their":[362],"working":[363],"safety":[364],"efficiency.":[366]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}