{"id":"https://openalex.org/W3080681337","doi":"https://doi.org/10.1109/tcyb.2020.3009992","title":"Output-Feedback Flocking Control of Multiple Autonomous Surface Vehicles Based on Data-Driven Adaptive Extended State Observers","display_name":"Output-Feedback Flocking Control of Multiple Autonomous Surface Vehicles Based on Data-Driven Adaptive Extended State Observers","publication_year":2020,"publication_date":"2020-08-20","ids":{"openalex":"https://openalex.org/W3080681337","doi":"https://doi.org/10.1109/tcyb.2020.3009992","mag":"3080681337","pmid":"https://pubmed.ncbi.nlm.nih.gov/32816683"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2020.3009992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2020.3009992","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"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","HK"],"is_corresponding":false,"raw_author_name":"Zhouhua Peng","raw_affiliation_strings":["Department of Computer Science, City University of Hong Kong, Hong Kong","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-4468-7281","affiliations":[{"raw_affiliation_string":"Department of Computer Science, City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"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/A5049980042","display_name":"Lu Liu","orcid":"https://orcid.org/0000-0003-3975-3029"},"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":"Lu Liu","raw_affiliation_strings":["Collaborative Innovation Institute of Unmanned Ships, Dalian Maritime University, Dalian, China","School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-3975-3029","affiliations":[{"raw_affiliation_string":"Collaborative Innovation Institute of Unmanned Ships, 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/A5100384686","display_name":"Jun Wang","orcid":"https://orcid.org/0000-0002-1305-5735"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Jun Wang","raw_affiliation_strings":["City University of Hong Kong Shenzhen Research Institute, Shenzhen, China","Department of Computer Science and School of Data Science, City University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-1305-5735","affiliations":[{"raw_affiliation_string":"City University of Hong Kong Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I168719708","https://openalex.org/I4210105229"]},{"raw_affiliation_string":"Department of Computer Science and School of Data Science, City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.164,"has_fulltext":false,"cited_by_count":211,"citation_normalized_percentile":{"value":0.99252089,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"51","issue":"9","first_page":"4611","last_page":"4622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9980999827384949,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9922999739646912,"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/flocking","display_name":"Flocking (texture)","score":0.8753289580345154},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8003849983215332},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.7035031318664551},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5903987288475037},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5164973139762878},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.512141227722168},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.46192994713783264},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.43934303522109985},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27570641040802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2251196801662445},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09313318133354187},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09210249781608582},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09151312708854675}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.8753289580345154},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8003849983215332},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.7035031318664551},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5903987288475037},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5164973139762878},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.512141227722168},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.46192994713783264},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.43934303522109985},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27570641040802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2251196801662445},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09313318133354187},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09210249781608582},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09151312708854675},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2020.3009992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2020.3009992","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:32816683","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32816683","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2100306470","display_name":null,"funder_award_id":"2019M650086","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3021926920","display_name":null,"funder_award_id":"3132019319","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3974428420","display_name":null,"funder_award_id":"61673081","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4872746942","display_name":"Intelligent Mission Planning and Tracking Control of Autonomous Surface Vehicles Based on Neural Computation","funder_award_id":"11202318","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"},{"id":"https://openalex.org/G531563536","display_name":null,"funder_award_id":"3132020101","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6070280049","display_name":null,"funder_award_id":"2016YFC0301500","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6102030405","display_name":"Analysis and Design of Multiscale Neurodynamic Systems with Their Applications for Robust Control, Data Processing, and Supervised Learning","funder_award_id":"11208517","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"},{"id":"https://openalex.org/G6270911851","display_name":null,"funder_award_id":"51979020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6887677429","display_name":null,"funder_award_id":"GJHZ1849","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G6926619606","display_name":null,"funder_award_id":"61673330","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8894999549","display_name":null,"funder_award_id":"51909021","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/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320321592","display_name":"Research Grants Council, University Grants Committee","ror":"https://ror.org/00djwmt25"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1910600297","https://openalex.org/W1919998456","https://openalex.org/W1968222391","https://openalex.org/W1972011357","https://openalex.org/W1974515126","https://openalex.org/W1988098565","https://openalex.org/W1998380707","https://openalex.org/W2000542229","https://openalex.org/W2013928382","https://openalex.org/W2030766364","https://openalex.org/W2045567803","https://openalex.org/W2067453127","https://openalex.org/W2073991390","https://openalex.org/W2080588088","https://openalex.org/W2084163350","https://openalex.org/W2094437443","https://openalex.org/W2099823866","https://openalex.org/W2105850748","https://openalex.org/W2117948790","https://openalex.org/W2119693819","https://openalex.org/W2124744767","https://openalex.org/W2152137123","https://openalex.org/W2228328747","https://openalex.org/W2254949773","https://openalex.org/W2263500950","https://openalex.org/W2330745128","https://openalex.org/W2347085891","https://openalex.org/W2474795882","https://openalex.org/W2548948228","https://openalex.org/W2579065153","https://openalex.org/W2581111877","https://openalex.org/W2611346233","https://openalex.org/W2612054959","https://openalex.org/W2616123428","https://openalex.org/W2624600449","https://openalex.org/W2750793847","https://openalex.org/W2758621768","https://openalex.org/W2761264428","https://openalex.org/W2782127155","https://openalex.org/W2794073143","https://openalex.org/W2796077807","https://openalex.org/W2799669463","https://openalex.org/W2806863919","https://openalex.org/W2884971974","https://openalex.org/W2892281448","https://openalex.org/W2897643646","https://openalex.org/W2899991718","https://openalex.org/W2905364384","https://openalex.org/W2905456320","https://openalex.org/W2905869119","https://openalex.org/W2944407614","https://openalex.org/W2948452254","https://openalex.org/W2950732842","https://openalex.org/W2957590566","https://openalex.org/W2960146582","https://openalex.org/W2963631491","https://openalex.org/W2967044798","https://openalex.org/W2976431338","https://openalex.org/W2979715977","https://openalex.org/W2981462393","https://openalex.org/W3024387281","https://openalex.org/W6678491488","https://openalex.org/W6751896460"],"related_works":["https://openalex.org/W2097610718","https://openalex.org/W2002188687","https://openalex.org/W2142589698","https://openalex.org/W2794811781","https://openalex.org/W4327740834","https://openalex.org/W4389665619","https://openalex.org/W2138105113","https://openalex.org/W2166744572","https://openalex.org/W1596835606","https://openalex.org/W2182108128"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"an":[3,90,106,115],"output-feedback":[4,91,107,157],"flocking":[5,54,108,159],"control":[6,47,93,109,160],"problem":[7],"for":[8,51,119,131],"a":[9,18,23,53,64,99,128,140],"swarm":[10],"of":[11,60,135,153],"autonomous":[12],"surface":[13],"vehicles":[14],"(ASVs)":[15],"to":[16,33,97,127,149],"follow":[17,98],"leading":[19,27,88,137],"ASV":[20,138,158],"guided":[21],"via":[22],"parameterized":[24,101],"path.":[25,102],"The":[26,144],"and":[28,40,80,122],"following":[29,104],"ASVs":[30],"are":[31,83,147],"subject":[32],"completely":[34],"unknown":[35,75],"model":[36,61],"parameters,":[37],"external":[38],"disturbances,":[39],"unmeasured":[41,78],"velocities.":[42],"A":[43],"data-driven":[44,65,163],"adaptive":[45,66,164],"anti-disturbance":[46],"method":[48],"is":[49,71,95,111],"proposed":[50,72,155],"establishing":[52],"behavior":[55],"without":[56,166],"any":[57],"prior":[58],"knowledge":[59],"parameters.":[62],"Specifically,":[63],"extended":[67],"state":[68],"observer":[69],"(ESO)":[70],"such":[73],"that":[74],"input":[76],"gains,":[77],"velocities,":[79],"total":[81],"disturbance":[82],"simultaneously":[84],"estimated.":[85],"For":[86,103],"the":[87,133,136,151,154],"ASV,":[89],"path-following":[92],"law":[94,110],"developed":[96,112],"predefined":[100],"ASVs,":[105],"based":[113,161],"on":[114,162],"artificial":[116],"potential":[117],"function":[118],"collision":[120],"avoidance":[121],"connectivity":[123],"preservation,":[124],"in":[125],"addition":[126],"distributed":[129],"ESO":[130],"estimating":[132],"velocity":[134,168],"through":[139],"cooperative":[141],"estimation":[142],"network.":[143],"simulation":[145],"results":[146],"discussed":[148],"substantiate":[150],"efficacy":[152],"path-guided":[156],"ESOs":[165],"measured":[167],"information.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":17},{"year":2025,"cited_by_count":37},{"year":2024,"cited_by_count":44},{"year":2023,"cited_by_count":39},{"year":2022,"cited_by_count":46},{"year":2021,"cited_by_count":28}],"updated_date":"2026-07-27T08:26:11.824852","created_date":"2025-10-10T00:00:00"}