{"id":"https://openalex.org/W7118002260","doi":"https://doi.org/10.1109/tase.2025.3648924","title":"Safety-Critical Disturbance Rejection Control for Capsizing Prevention of an Unmanned Sailboat","display_name":"Safety-Critical Disturbance Rejection Control for Capsizing Prevention of an Unmanned Sailboat","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7118002260","doi":"https://doi.org/10.1109/tase.2025.3648924"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3648924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3648924","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/A5121769998","display_name":"Bo Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Peng","raw_affiliation_strings":["Shenzhen International Graduate School, Institute for Ocean Engineering, Tsinghua University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3664-1665","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Institute for Ocean Engineering, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121037263","display_name":"Zhengru Ren","orcid":null},"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"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengru Ren","raw_affiliation_strings":["School of Ocean and Civil Engineering, State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5522-8094","affiliations":[{"raw_affiliation_string":"School of Ocean and Civil Engineering, State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I44675526","https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5121769998"],"corresponding_institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":65.9867,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.99848439,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"23","issue":null,"first_page":"1830","last_page":"1841"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.7445999979972839,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.7445999979972839,"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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.11249999701976776,"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":0.06300000101327896,"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/control-theory","display_name":"Control theory (sociology)","score":0.741599977016449},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.684499979019165},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6396999955177307},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44600000977516174},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44600000977516174},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.4219000041484833},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4147999882698059},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.41370001435279846},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.40709999203681946}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.741599977016449},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.684499979019165},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6396999955177307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.6108999848365784},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44600000977516174},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44600000977516174},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4219000041484833},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4147999882698059},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.41370001435279846},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.40709999203681946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4002000093460083},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.35370001196861267},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.3418000042438507},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3409000039100647},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.3368000090122223},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3328000009059906},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.3285999894142151},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.29679998755455017},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2913999855518341},{"id":"https://openalex.org/C142784634","wikidata":"https://www.wikidata.org/wiki/Q1129460","display_name":"Slosh dynamics","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.2840000092983246},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25859999656677246},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.2556000053882599},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3648924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3648924","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":[{"score":0.490529865026474,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G1982914679","display_name":null,"funder_award_id":"52425102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2551761412","display_name":null,"funder_award_id":"2024A1515011731","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G8196451046","display_name":null,"funder_award_id":"52088102","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/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W630652037","https://openalex.org/W2119891073","https://openalex.org/W2134250010","https://openalex.org/W2135493101","https://openalex.org/W2292402551","https://openalex.org/W2492811885","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2789826932","https://openalex.org/W2801073175","https://openalex.org/W2808861591","https://openalex.org/W2900550679","https://openalex.org/W2902357932","https://openalex.org/W2942539961","https://openalex.org/W2963443260","https://openalex.org/W3178222245","https://openalex.org/W3178576965","https://openalex.org/W3188626181","https://openalex.org/W3203707938","https://openalex.org/W4220689297","https://openalex.org/W4226073364","https://openalex.org/W4248049034","https://openalex.org/W4283716096","https://openalex.org/W4285260440","https://openalex.org/W4292262218","https://openalex.org/W4293704583","https://openalex.org/W4320725963","https://openalex.org/W4379356445","https://openalex.org/W4382203285","https://openalex.org/W4386264251","https://openalex.org/W4386824913","https://openalex.org/W4388182376","https://openalex.org/W4391940709","https://openalex.org/W4394002399","https://openalex.org/W4394699127","https://openalex.org/W4401870961","https://openalex.org/W4402039099","https://openalex.org/W4402985549","https://openalex.org/W4406158122","https://openalex.org/W4407132060","https://openalex.org/W4407638338","https://openalex.org/W4410106399","https://openalex.org/W4411576588","https://openalex.org/W4412445044","https://openalex.org/W4412567229","https://openalex.org/W7114810306","https://openalex.org/W7117252458"],"related_works":[],"abstract_inverted_index":{"The":[0],"capsizing":[1,29,35,188],"of":[2,37,44,65,151,182],"unmanned":[3,18,39,66,176],"sailboats":[4],"primarily":[5],"results":[6],"from":[7],"strong":[8],"winds,":[9],"high":[10],"waves,":[11],"and":[12,48,93,105,117],"improper":[13],"maneuvering.":[14],"However,":[15],"most":[16],"existing":[17],"sailboat":[19,40,177],"control":[20,56,106,113,145,185],"approaches":[21],"do":[22],"not":[23,76],"explicitly":[24],"address":[25],"roll":[26],"dynamics":[27],"or":[28],"prevention.":[30,189],"This":[31],"paper":[32],"investigates":[33],"the":[34,42,45,62,79,85,90,99,102,112,118,126,131,148,152,173,180,183],"prevention":[36],"an":[38,69,142],"in":[41,187],"presence":[43],"model":[46,91,178],"uncertainties":[47,92],"unknown":[49,94],"environmental":[50,95],"disturbances.":[51,96],"A":[52],"safety-critical":[53,144],"disturbance":[54,87,170],"rejection":[55],"method":[57,186],"is":[58,73,108,138,155,164],"proposed":[59,184],"to":[60,75,124,140],"ensure":[61],"safe":[63,120],"maneuvering":[64],"sailboat.":[67],"Specifically,":[68],"extended":[70],"state":[71],"observer":[72],"presented":[74],"only":[77],"filter":[78],"velocity":[80],"measurements,":[81],"but":[82],"also":[83],"estimate":[84],"total":[86],"composed":[88],"by":[89,157],"By":[97],"using":[98,172],"backstepping":[100],"technology,":[101],"virtual":[103],"guidance":[104],"law":[107],"then":[109],"derived.":[110],"Both":[111],"barrier":[114],"function":[115],"(CBF)":[116],"input-to-state":[119,149,162],"CBF":[121],"are":[122],"introduced":[123],"construct":[125],"safety":[127,132,163],"condition.":[128],"Based":[129],"on":[130],"constraint,":[133],"a":[134],"quadratic":[135],"programming":[136],"problem":[137],"formulated":[139],"obtain":[141],"optimal":[143],"law.":[146],"Furthermore,":[147],"stability":[150],"closed-loop":[153],"system":[154],"proven":[156],"Lyapunov":[158],"theory,":[159],"while":[160],"its":[161],"guaranteed.":[165],"Comparative":[166],"simulations":[167],"under":[168],"different":[169],"scenarios":[171],"developed":[174],"high-fidelity":[175],"demonstrate":[179],"effectiveness":[181]},"counts_by_year":[{"year":2026,"cited_by_count":4}],"updated_date":"2026-02-14T06:23:00.392402","created_date":"2026-01-02T00:00:00"}
