{"id":"https://openalex.org/W4417427374","doi":"https://doi.org/10.1109/tcyb.2025.3636465","title":"Predefined-Time Dynamic Self-Triggered Approximate Optimal Control of Autonomous Surface Vehicles With Disturbances","display_name":"Predefined-Time Dynamic Self-Triggered Approximate Optimal Control of Autonomous Surface Vehicles With Disturbances","publication_year":2025,"publication_date":"2025-12-15","ids":{"openalex":"https://openalex.org/W4417427374","doi":"https://doi.org/10.1109/tcyb.2025.3636465","pmid":"https://pubmed.ncbi.nlm.nih.gov/41396739"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2025.3636465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3636465","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/A5065534299","display_name":"Yongwei Zhang","orcid":"https://orcid.org/0000-0001-9201-4511"},"institutions":[{"id":"https://openalex.org/I101479585","display_name":"South China Agricultural University","ror":"https://ror.org/05v9jqt67","country_code":"CN","type":"education","lineage":["https://openalex.org/I101479585"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yongwei Zhang","raw_affiliation_strings":["College of Mathematics and Informatics, South China Agricultural University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mathematics and Informatics, South China Agricultural University, Guangzhou, China","institution_ids":["https://openalex.org/I101479585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085598485","display_name":"Weifeng Zhong","orcid":"https://orcid.org/0000-0003-3588-2018"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weifeng Zhong","raw_affiliation_strings":["School of Automation, the Key Laboratory of Intelligent Detection and Manufacturing Internet of Things, Ministry of Education, and Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, the Key Laboratory of Intelligent Detection and Manufacturing Internet of Things, Ministry of Education, and Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090101808","display_name":"Guoxu Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoxu Zhou","raw_affiliation_strings":["School of Automation, the Key Laboratory of Intelligent Detection and Manufacturing Internet of Things, Ministry of Education, and Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, the Key Laboratory of Intelligent Detection and Manufacturing Internet of Things, Ministry of Education, and Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043262479","display_name":"Shengli Xie","orcid":"https://orcid.org/0000-0003-2041-5214"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengli Xie","raw_affiliation_strings":["School of Automation, the Key Laboratory of Intelligent Detection and Manufacturing Internet of Things, Ministry of Education, and Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, the Key Laboratory of Intelligent Detection and Manufacturing Internet of Things, Ministry of Education, and Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065534299"],"corresponding_institution_ids":["https://openalex.org/I101479585"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39239794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"4","first_page":"2312","last_page":"2325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9850999712944031,"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":0.9850999712944031,"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":0.0032999999821186066,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0019000000320374966,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/control-theory","display_name":"Control theory (sociology)","score":0.8202999830245972},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6553999781608582},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5849000215530396},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5314000248908997},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5284000039100647},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.4916999936103821},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.44190001487731934},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.43700000643730164},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4207000136375427}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8202999830245972},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6553999781608582},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5849000215530396},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5314000248908997},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5284000039100647},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.4916999936103821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.486299991607666},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.44190001487731934},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.43700000643730164},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4207000136375427},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.4196999967098236},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4032000005245209},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3833000063896179},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.34790000319480896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3474999964237213},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3294000029563904},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C101403955","wikidata":"https://www.wikidata.org/wiki/Q6707083","display_name":"Lyapunov optimization","level":5,"score":0.29820001125335693},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.29120001196861267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2786000072956085},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.27810001373291016},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.272599995136261},{"id":"https://openalex.org/C25854792","wikidata":"https://www.wikidata.org/wiki/Q1028945","display_name":"Lyapunov equation","level":4,"score":0.2685999870300293},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.2644999921321869},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2635999917984009},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2630999982357025}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcyb.2025.3636465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3636465","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:41396739","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41396739","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},{"id":"pmh:oai:dr.ntu.edu.sg:10356/211042","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/211042","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1979517588","https://openalex.org/W2027214297","https://openalex.org/W2570494446","https://openalex.org/W3114263192","https://openalex.org/W3131678030","https://openalex.org/W4205294007","https://openalex.org/W4280488988","https://openalex.org/W4282931608","https://openalex.org/W4283698514","https://openalex.org/W4312531752","https://openalex.org/W4312838645","https://openalex.org/W4327522695","https://openalex.org/W4361212356","https://openalex.org/W4366818928","https://openalex.org/W4383100891","https://openalex.org/W4385732480","https://openalex.org/W4386472868","https://openalex.org/W4386766608","https://openalex.org/W4388579564","https://openalex.org/W4388622860","https://openalex.org/W4389105013","https://openalex.org/W4389319212","https://openalex.org/W4390481878","https://openalex.org/W4390724347","https://openalex.org/W4390738469","https://openalex.org/W4390755345","https://openalex.org/W4390968690","https://openalex.org/W4391128379","https://openalex.org/W4391326570","https://openalex.org/W4391696954","https://openalex.org/W4391807011","https://openalex.org/W4392843923","https://openalex.org/W4394909995","https://openalex.org/W4394939087","https://openalex.org/W4396629508","https://openalex.org/W4401110018","https://openalex.org/W4401990178","https://openalex.org/W4402123867","https://openalex.org/W4403182809","https://openalex.org/W4404132947","https://openalex.org/W4404355808","https://openalex.org/W4404952704","https://openalex.org/W4405021934","https://openalex.org/W4406258849","https://openalex.org/W4406611057","https://openalex.org/W4407899236","https://openalex.org/W4408503294","https://openalex.org/W4410949545","https://openalex.org/W4411171624","https://openalex.org/W4412939438"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"the":[3,28,33,75,94,105,112,117,123,130,134,138,141,146,156,159,164,169,190,196,199,207,210],"predefined-time":[4,36,63],"optimal":[5,65],"motion":[6,66,212],"control":[7,41,68,192,213],"problem":[8],"of":[9,30,93,133,148,158,209],"an":[10,90],"autonomous":[11],"surface":[12],"vehicle":[13],"(ASV)":[14],"with":[15],"disturbances":[16],"under":[17,104],"dynamic":[18,106,185],"self-triggered":[19,107],"frameworks":[20],"via":[21],"reinforcement":[22],"learning":[23],"(RL).":[24],"Initially,":[25],"to":[26,73,88,115,154],"eliminate":[27],"influence":[29],"disturbance":[31],"on":[32,111],"ASV,":[34],"a":[35,48,56,62,78,82],"second-order":[37],"integral":[38,50],"sliding":[39,51,58,160],"mode":[40,52,59,161],"(SOISM)":[42],"strategy":[43,69],"is":[44,70,86],"formulated":[45],"by":[46],"establishing":[47],"novel":[49,176],"(ISM)":[53],"function":[54],"and":[55,125,151,163,173,179],"terminal":[57],"function.":[60],"Subsequently,":[61],"approximate":[64,91],"(AOM)":[67],"further":[71],"developed":[72,191],"ensure":[74,155,195],"ASV":[76,135],"maintains":[77],"stable":[79],"state.":[80,136],"Furthermore,":[81],"single":[83],"critic":[84],"network":[85],"used":[87],"obtain":[89],"solution":[92],"Hamilton-Jacobi-Bellman":[95],"(HJB)":[96],"equation.":[97],"The":[98],"above":[99],"two":[100,175],"strategies":[101,193],"are":[102],"established":[103],"framework,":[108],"which":[109],"relies":[110],"current":[113],"information":[114],"predict":[116],"next":[118],"updating":[119],"time,":[120],"effectively":[121],"reducing":[122],"computational":[124],"communication":[126],"burden":[127],"while":[128],"avoiding":[129],"continuous":[131],"monitoring":[132],"In":[137],"theoretical":[139],"analysis,":[140],"main":[142],"challenges":[143],"lie":[144],"in":[145],"design":[147],"Lyapunov":[149,170,177],"functions":[150,178],"triggered":[152,180],"conditions":[153,181],"stability":[157,171,197],"dynamics":[162],"disturbed":[165],"ASV.":[166],"By":[167],"applying":[168],"principle":[172],"designing":[174],"that":[182,189],"both":[183],"contain":[184],"variables,":[186],"we":[187],"demonstrate":[188],"can":[194],"within":[198],"specified":[200],"time":[201],"frame.":[202],"Ultimately,":[203],"simulation":[204],"results":[205],"verify":[206],"efficacy":[208],"proposed":[211],"approach.":[214]},"counts_by_year":[],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-12-15T00:00:00"}