{"id":"https://openalex.org/W7127271357","doi":"https://doi.org/10.1109/tase.2026.3660669","title":"Event-Driven Prescribed Optimal Disturbance Rejection for Dynamic Positioning of Ships via Reinforcement Learning","display_name":"Event-Driven Prescribed Optimal Disturbance Rejection for Dynamic Positioning of Ships via Reinforcement Learning","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7127271357","doi":"https://doi.org/10.1109/tase.2026.3660669"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3660669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3660669","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/A5124881920","display_name":"Xiaoyang Gao","orcid":null},"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":"Xiaoyang Gao","raw_affiliation_strings":["School of Maritime Economics and Management, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-8315-7315","affiliations":[{"raw_affiliation_string":"School of Maritime Economics and Management, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124925147","display_name":"Xin Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I182707071","display_name":"Ludong University","ror":"https://ror.org/028h95t32","country_code":"CN","type":"education","lineage":["https://openalex.org/I182707071"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Hu","raw_affiliation_strings":["School of Mathematics and Statistics Science, Ludong University, Yantai, Shandong, China"],"raw_orcid":"https://orcid.org/0000-0001-9043-9639","affiliations":[{"raw_affiliation_string":"School of Mathematics and Statistics Science, Ludong University, Yantai, Shandong, China","institution_ids":["https://openalex.org/I182707071"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124955637","display_name":"Jiarui Liu","orcid":null},"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":"Jiarui Liu","raw_affiliation_strings":["College of Navigation, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0009-0009-1761-1194","affiliations":[{"raw_affiliation_string":"College of Navigation, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","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":"https://orcid.org/0000-0003-0474-953X","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":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":71.9722,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.9986014,"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":"4615","last_page":"4626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.4366999864578247,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.4366999864578247,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.4341999888420105,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.027300000190734863,"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":0.7512999773025513},{"id":"https://openalex.org/keywords/dynamic-positioning","display_name":"Dynamic positioning","score":0.6633999943733215},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6596999764442444},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5645999908447266},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5501999855041504},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4846000075340271},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.45879998803138733},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45329999923706055},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4189999997615814}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7512999773025513},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.6633999943733215},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6596999764442444},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5645999908447266},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5501999855041504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49309998750686646},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4846000075340271},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.45879998803138733},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45329999923706055},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44440001249313354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42899999022483826},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4189999997615814},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3734999895095825},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3610999882221222},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.33500000834465027},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2842000126838684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.2818000018596649},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2761000096797943},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.26919999718666077},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.26190000772476196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25519999861717224},{"id":"https://openalex.org/C147021018","wikidata":"https://www.wikidata.org/wiki/Q252451","display_name":"Elevator","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3660669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3660669","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":[],"awards":[{"id":"https://openalex.org/G171492369","display_name":null,"funder_award_id":"62533006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2026923250","display_name":null,"funder_award_id":"ZR2024MF055","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G2995642224","display_name":null,"funder_award_id":"ZYGX2024Z018","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5095404526","display_name":null,"funder_award_id":"62273172","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6049647213","display_name":null,"funder_award_id":"tsqn202507228","funder_id":"https://openalex.org/F4320330170","funder_display_name":"Young Elite Scientists Sponsorship Program by Tianjin"},{"id":"https://openalex.org/G7564936985","display_name":null,"funder_award_id":"52471376","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7778972098","display_name":null,"funder_award_id":"52301418","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/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320330170","display_name":"Young Elite Scientists Sponsorship Program by Tianjin","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":44,"referenced_works":["https://openalex.org/W2039984557","https://openalex.org/W2047035041","https://openalex.org/W2103290702","https://openalex.org/W2107726111","https://openalex.org/W2155614720","https://openalex.org/W2342528329","https://openalex.org/W2492811885","https://openalex.org/W2510630379","https://openalex.org/W2581111877","https://openalex.org/W2603406422","https://openalex.org/W2709540775","https://openalex.org/W2787063656","https://openalex.org/W2811002385","https://openalex.org/W2887519063","https://openalex.org/W3038347580","https://openalex.org/W3161844359","https://openalex.org/W3173158385","https://openalex.org/W4205733025","https://openalex.org/W4205801813","https://openalex.org/W4312546439","https://openalex.org/W4327521553","https://openalex.org/W4388430413","https://openalex.org/W4388755593","https://openalex.org/W4390660050","https://openalex.org/W4391831200","https://openalex.org/W4391959948","https://openalex.org/W4392502243","https://openalex.org/W4393099505","https://openalex.org/W4399110299","https://openalex.org/W4401894866","https://openalex.org/W4403094325","https://openalex.org/W4405933903","https://openalex.org/W4406279412","https://openalex.org/W4406457599","https://openalex.org/W4407448834","https://openalex.org/W4407735903","https://openalex.org/W4408017555","https://openalex.org/W4409426315","https://openalex.org/W4411171624","https://openalex.org/W4412963959","https://openalex.org/W4414322151","https://openalex.org/W4416366456","https://openalex.org/W7076050148","https://openalex.org/W7083587832"],"related_works":[],"abstract_inverted_index":{"Dynamic":[0],"positioning":[1,27,68,94],"(DP)":[2],"stands":[3],"as":[4,139,141],"the":[5,11,47,56,67,72,81,85,93,98,102,106,111,119,125,131,148,156,162,182,195,206,211,217,221,235,239,242],"keystone":[6],"underpinning":[7],"ships\u2019":[8],"operations":[9],"in":[10,181],"abyssal":[12],"depths":[13],"and":[14,84,117,144,166,201],"remote":[15],"oceans.":[16],"This":[17],"paper":[18,193],"proposes":[19],"an":[20],"event-driven":[21,132],"disturbance":[22,41,58],"rejection":[23],"approximate":[24,110],"optimal":[25,113,126],"dynamic":[26],"scheme":[28],"for":[29,97],"surface":[30],"ships":[31],"with":[32,71,80,174,226],"prescribed":[33,73,175,199],"performance":[34,62,74,121,176,200,207],"via":[35],"reinforcement":[36],"learning":[37],"(RL).":[38],"Firstly,":[39],"a":[40,230],"observer":[42],"is":[43,76,153,194,213],"established":[44,77],"to":[45,78,91,109,134,169,171],"achieve":[46],"online":[48],"estimations":[49],"of":[50,191,198,210,241],"marine":[51],"environmental":[52],"disturbances":[53],"such":[54],"that":[55,155,205],"undesirable":[57],"effects":[59],"on":[60,229],"control":[61,115,128,159,244],"can":[63,88],"be":[64,89],"reduced.":[65],"Meanwhile,":[66],"error":[69,100,219],"transformations":[70],"function":[75,209],"combine":[79],"backstepping":[82],"method":[83,104],"virtual":[86],"controller":[87],"designed":[90,157],"constrain":[92],"error.":[95],"Then,":[96],"velocity":[99],"surface,":[101],"RL":[103,158,243],"provides":[105],"actor-critic":[107],"architecture":[108],"actual":[112,164],"commanded":[114,127],"law":[116,160],"minimized":[118,214],"specified":[120],"index":[122,208],"function.":[123],"Subsequently,":[124],"design":[129],"incorporates":[130],"mechanism":[133],"avoid":[135],"communication":[136],"resource":[137],"waste":[138],"well":[140],"actuator":[142],"wear":[143],"tear.":[145],"By":[146],"applying":[147],"Lyapunov":[149],"stability":[150],"theory,":[151],"it":[152],"proven":[154],"forces":[161],"ship\u2019s":[163],"position":[165],"yaw":[167],"angle":[168],"converge":[170],"desired":[172],"target":[173],"while":[177,215],"ensuring":[178],"all":[179],"signals":[180],"closed-loop":[183],"system":[184],"are":[185],"uniformly":[186],"ultimately":[187],"bounded.":[188],"The":[189],"feature":[190],"this":[192],"reasonable":[196],"integration":[197],"RL,":[202],"which":[203],"ensures":[204],"ship":[212,233],"keeping":[216],"DP":[218],"within":[220],"safety":[222],"range.":[223],"Finally,":[224],"simulations":[225],"comparisons":[227],"based":[228],"sea":[231],"launch":[232],"show":[234],"effectiveness":[236],"further":[237],"validating":[238],"superiority":[240],"scheme.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":9}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2026-02-04T00:00:00"}