{"id":"https://openalex.org/W7143432711","doi":"https://doi.org/10.1109/tase.2026.3678792","title":"Approximate Optimal Enclosing Control for UAVs With Performance Guarantees: A Prescribed-Time Learning Solution","display_name":"Approximate Optimal Enclosing Control for UAVs With Performance Guarantees: A Prescribed-Time Learning Solution","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7143432711","doi":"https://doi.org/10.1109/tase.2026.3678792"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3678792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3678792","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/A5130959753","display_name":"Wanning Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wanning Wang","raw_affiliation_strings":["School of Instrument and Electronics, North University of China, Taiyuan, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument and Electronics, North University of China, Taiyuan, China","institution_ids":["https://openalex.org/I135714990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782838","display_name":"Xingling Shao","orcid":"https://orcid.org/0000-0002-6187-4575"},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingling Shao","raw_affiliation_strings":["State Key Laboratory of Instrumentation Science and Dynamic Measurement, Taiyuan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Instrumentation Science and Dynamic Measurement, Taiyuan, China","institution_ids":["https://openalex.org/I135714990"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jun Liu","orcid":"https://orcid.org/0000-0002-1128-8201"},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Liu","raw_affiliation_strings":["School of Instrument and Electronics, North University of China, Taiyuan, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument and Electronics, North University of China, Taiyuan, China","institution_ids":["https://openalex.org/I135714990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130973462","display_name":"Zhengrong Xiang","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengrong Xiang","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5130916480","display_name":"Junzhi Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["Department of Advanced Manufacturing and Robotics, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5130959753"],"corresponding_institution_ids":["https://openalex.org/I135714990"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.86320434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"7342","last_page":"7353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.31779998540878296,"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":0.31779998540878296,"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":0.18029999732971191,"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":0.15629999339580536,"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","display_name":"Control (management)","score":0.5802000164985657},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48010000586509705},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.42480000853538513},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4074999988079071},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3467000126838684},{"id":"https://openalex.org/keywords/real-time-control-system","display_name":"Real-time Control System","score":0.33869999647140503},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.30140000581741333},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.28630000352859497}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5802000164985657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5145000219345093},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48010000586509705},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44600000977516174},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.42480000853538513},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4074999988079071},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38260000944137573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3467000126838684},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.33869999647140503},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3012999892234802},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.28630000352859497},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2632000148296356},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C3018623182","wikidata":"https://www.wikidata.org/wiki/Q154021","display_name":"Output feedback","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25699999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3678792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3678792","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/7","display_name":"Affordable and clean energy","score":0.6188049912452698}],"awards":[{"id":"https://openalex.org/G5770850125","display_name":null,"funder_award_id":"62173312","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8359344949","display_name":null,"funder_award_id":"202203021224008","funder_id":"https://openalex.org/F4320335445","funder_display_name":"Outstanding Youth Foundation of Jiangsu Province 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/F4320335445","display_name":"Outstanding Youth Foundation of Jiangsu Province of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,32,48,52,78,99,103,106,115,127,142,170,189],"prescribed":[4,24,54,100,104,107,144,190],"time":[5,55,108,145,172,191],"learning-based":[6,109],"near":[7,110],"optimal":[8,75,111,180],"enclosing":[9,34,41,76,80,96,112,181],"controller":[10,35,113,205],"to":[11,38,98],"ensure":[12],"that":[13,58,161,178,196],"unmanned":[14],"aerial":[15],"vehicles":[16],"(UAVs)":[17],"encircle":[18],"around":[19,47],"the":[20,40,60,69,95,124,134,162,179,211,216],"specified":[21],"target":[22],"with":[23,138,182],"performance":[25,72,183],"constraints":[26,73],"and":[27,44,74,157,203,213],"minimum":[28,135],"cost":[29,136],"efforts.":[30],"First,":[31],"basic":[33],"is":[36,65,82,121,152,166,177],"established":[37],"achieve":[39],"error":[42,64,81,97,198],"stabilization":[43],"stable":[45],"circumnavigation":[46],"given":[49],"target.":[50],"Second,":[51],"new":[53],"behavior":[56],"envelope":[57],"eliminates":[59],"availability":[61],"on":[62,88],"initial":[63],"proposed.":[66],"To":[67],"render":[68],"satisfaction":[70],"of":[71,126,164,215],"actions,":[77],"transformed":[79,139],"obtained":[83],"by":[84,149,154,169,188],"enforcing":[85],"state":[86],"conversion":[87],"original":[89],"error.":[90],"Then,":[91],"aiming":[92],"at":[93],"stabilizing":[94],"accuracy":[101],"within":[102],"time,":[105],"under":[114],"critic-only":[116],"adaptive":[117],"dynamic":[118],"programming":[119],"(ADP)":[120],"explored,":[122],"approximating":[123],"solution":[125],"novel":[128,143],"Hamilton-Jacobi-Bellman":[129],"(HJB)":[130],"equation":[131],"via":[132],"pursuing":[133],"associated":[137],"errors.":[140],"Especially,":[141],"learning":[146],"rule":[147],"driven":[148],"weight":[150],"errors":[151],"elaborated":[153],"revisiting":[155],"real-time":[156],"historical":[158],"information,":[159],"such":[160],"convergence":[163],"weights":[165],"only":[167],"determined":[168],"user-defined":[171],"constant.":[173],"The":[174],"prominent":[175],"merit":[176],"guarantees":[184],"can":[185],"be":[186],"achieved":[187],"ADP.":[192],"Lyapunov":[193],"stability":[194],"demonstrates":[195],"involved":[197],"variables":[199],"are":[200],"ultimately":[201],"limited":[202],"resultant":[204],"satisfies":[206],"optimality.":[207],"Finally,":[208],"simulations":[209],"verify":[210],"values":[212],"superiority":[214],"proposed":[217],"methodology.":[218]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-03-31T00:00:00"}
