{"id":"https://openalex.org/W4407736056","doi":"https://doi.org/10.1109/tase.2025.3543530","title":"Distributed Cooperative Guidance Model-Free Control for a Cluster of Disk-Type Autonomous Underwater Gliders","display_name":"Distributed Cooperative Guidance Model-Free Control for a Cluster of Disk-Type Autonomous Underwater Gliders","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407736056","doi":"https://doi.org/10.1109/tase.2025.3543530"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3543530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3543530","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/A5085393499","display_name":"Liyu Lu","orcid":"https://orcid.org/0000-0001-8503-213X"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liyu Lu","raw_affiliation_strings":["School of Marine Electrical Engineering and the State Key Laboratory of Maritime Technology and Safety, Dalian Maritime University, Dalian, China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering and the State Key Laboratory of Maritime Technology and Safety, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100775993","display_name":"Haoliang Wang","orcid":"https://orcid.org/0000-0003-4222-9893"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoliang Wang","raw_affiliation_strings":["Marine Engineering College, Dalian Maritime University, Dalian, China","Marine Engineering College of Dalian Maritime University, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Marine Engineering College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Marine Engineering College of Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025111505","display_name":"Nan Gu","orcid":"https://orcid.org/0000-0002-2214-9928"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Gu","raw_affiliation_strings":["School of Marine Electrical Engineering and the State Key Laboratory of Maritime Technology and Safety, Dalian Maritime University, Dalian, China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering and the State Key Laboratory of Maritime Technology and Safety, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouhua Peng","raw_affiliation_strings":["School of Marine Electrical Engineering and the State Key Laboratory of Maritime Technology and Safety, Dalian Maritime University, Dalian, China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering and the State Key Laboratory of Maritime Technology and Safety, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414775","display_name":"Weidong Zhang","orcid":"https://orcid.org/0000-0002-4700-1276"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Zhang","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China","Department of Automation, Shanghai Jiaotong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Automation, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5085393499"],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":null,"apc_paid":null,"fwci":5.6784,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95301096,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"12395","last_page":"12405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9843999743461609,"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/cluster","display_name":"Cluster (spacecraft)","score":0.5291904211044312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49537742137908936},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4729810953140259},{"id":"https://openalex.org/keywords/underwater-glider","display_name":"Underwater glider","score":0.4617846608161926},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.43392547965049744},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3875778317451477},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.332766592502594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3152674436569214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30625608563423157},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.1995927393436432},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.17992040514945984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1431485116481781}],"concepts":[{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.5291904211044312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49537742137908936},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4729810953140259},{"id":"https://openalex.org/C34824556","wikidata":"https://www.wikidata.org/wiki/Q2634473","display_name":"Underwater glider","level":3,"score":0.4617846608161926},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.43392547965049744},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3875778317451477},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.332766592502594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3152674436569214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30625608563423157},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.1995927393436432},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.17992040514945984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1431485116481781},{"id":"https://openalex.org/C73525677","wikidata":"https://www.wikidata.org/wiki/Q2396202","display_name":"Glider","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3543530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3543530","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":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G2260626412","display_name":null,"funder_award_id":"U24A20260","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2934823595","display_name":null,"funder_award_id":"3132023508","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3947000257","display_name":null,"funder_award_id":"2022ZD0119903","funder_id":"https://openalex.org/F4320329860","funder_display_name":"National Science and Technology Major Project"},{"id":"https://openalex.org/G441971007","display_name":null,"funder_award_id":"52471372","funder_id":"https://openalex.org/F4320333714","funder_display_name":"Cave Science and Technology Research Fund"},{"id":"https://openalex.org/G7160276117","display_name":null,"funder_award_id":"52471372","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8949761380","display_name":null,"funder_award_id":"U24A20260","funder_id":"https://openalex.org/F4320333714","funder_display_name":"Cave Science and Technology Research Fund"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329860","display_name":"National Science and Technology Major Project","ror":null},{"id":"https://openalex.org/F4320333714","display_name":"Cave Science and Technology Research Fund","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1481876943","https://openalex.org/W1976108210","https://openalex.org/W1989617730","https://openalex.org/W2035250412","https://openalex.org/W2143872920","https://openalex.org/W2166905292","https://openalex.org/W2497535426","https://openalex.org/W2519296022","https://openalex.org/W2521613767","https://openalex.org/W2522475299","https://openalex.org/W2555176140","https://openalex.org/W2568019971","https://openalex.org/W2581967720","https://openalex.org/W2624600449","https://openalex.org/W2786312736","https://openalex.org/W2883731169","https://openalex.org/W2883781345","https://openalex.org/W2901256018","https://openalex.org/W2905456320","https://openalex.org/W2920076348","https://openalex.org/W2927018345","https://openalex.org/W2971969325","https://openalex.org/W2981462393","https://openalex.org/W3012396162","https://openalex.org/W3080681337","https://openalex.org/W3087752696","https://openalex.org/W3105422740","https://openalex.org/W3113339237","https://openalex.org/W3119784413","https://openalex.org/W3129588829","https://openalex.org/W3131290367","https://openalex.org/W3135251862","https://openalex.org/W3149053487","https://openalex.org/W3151185582","https://openalex.org/W3164385739","https://openalex.org/W3187161146","https://openalex.org/W4200441828","https://openalex.org/W4206692394","https://openalex.org/W4225142340","https://openalex.org/W4289547195","https://openalex.org/W4289639903","https://openalex.org/W4310467047","https://openalex.org/W4311089331","https://openalex.org/W4322730530","https://openalex.org/W4387071481"],"related_works":["https://openalex.org/W2393405835","https://openalex.org/W2378079040","https://openalex.org/W2064447020","https://openalex.org/W4280636355","https://openalex.org/W4200404818","https://openalex.org/W2166905292","https://openalex.org/W2377170893","https://openalex.org/W4224093652","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2,195],"on":[3,54,196],"a":[4,12,33,47,60,211,218,254],"distributed":[5,34,124,197,212],"cooperative":[6,35,48,125,198,213],"guidance":[7,63,126,199,214],"model-free":[8,127,201],"control":[9,49,103,128,189,202,227],"method":[10,50,129],"for":[11,130,154,204,249],"cluster":[13],"of":[14,24,95,120,146,151,163,190],"under-actuated":[15],"disk-type":[16,97,131,141],"autonomous":[17],"underwater":[18,206,257],"gliders":[19,185],"(AUGs)":[20],"in":[21,168,256],"the":[22,55,86,96,109,113,118,121,144,181,187,222],"presence":[23],"unknown":[25,87,136],"kinetic":[26,102,236],"model":[27,237],"parameters":[28],"and":[29,45,92,99,186,200],"ocean":[30],"disturbances.":[31],"Firstly,":[32],"motion":[36],"generator":[37],"is":[38,51,65,105,241],"designed":[39,106],"to":[40,83,134,139,216,233],"generate":[41],"reference":[42],"path":[43,57],"points,":[44],"then":[46],"proposed":[52,82,122],"based":[53],"update":[56],"parameters.":[58,238],"Secondly,":[59],"three-dimensional":[61],"(3D)":[62],"law":[64,104],"constructed":[66],"by":[67,107],"employing":[68],"closed":[69],"3D":[70,123],"vector":[71],"fields.":[72],"Finally,":[73],"data-driven":[74,231],"filtered":[75],"adaptive":[76,101],"extended":[77],"state":[78],"observers":[79],"(DFAO)":[80],"are":[81],"deal":[84],"with":[85],"input":[88],"gains,":[89],"internal":[90],"uncertainties":[91],"external":[93],"disturbances":[94],"AUGs,":[98],"an":[100,166],"using":[108],"knowledge":[110],"learned":[111],"from":[112],"observers.":[114],"Simulation":[115],"results":[116],"demonstrate":[117],"effectiveness":[119],"AUGs":[132],"subject":[133],"fully":[135,158],"kinetics.":[137],"Note":[138],"Practitioners\u2014The":[140],"AUG":[142],"has":[143],"characteristic":[145],"long":[147],"operational":[148],"endurance,":[149],"capable":[150],"functioning":[152],"continuously":[153],"several":[155],"months":[156],"when":[157],"loaded.":[159],"Consequently,":[160],"this":[161,175],"type":[162],"glider":[164,258],"offers":[165],"advantage":[167],"establishing":[169],"oceanic":[170],"sensor":[171],"networks.":[172],"To":[173],"achieve":[174],"goal,":[176],"two":[177],"technical":[178],"challenges":[179],"arise:":[180],"coordination":[182],"among":[183,221],"multiple":[184,205],"anti-disturbance":[188],"individual":[191],"glider.":[192],"Our":[193,239],"research":[194],"issues":[203],"gliders.":[207,223],"First,":[208],"we":[209,229],"propose":[210],"scheme":[215],"maintain":[217],"specific":[219],"formation":[220],"Additionally,":[224],"while":[225],"ensuring":[226],"effectiveness,":[228],"employ":[230],"methods":[232],"estimate":[234],"uncertain":[235],"approach":[240],"not":[242],"only":[243],"theoretically":[244],"viable":[245],"but":[246],"also":[247],"ready":[248],"industrial":[250],"application,":[251],"thus":[252],"filling":[253],"gap":[255],"technology.":[259]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}