{"id":"https://openalex.org/W4386264251","doi":"https://doi.org/10.1109/tfuzz.2023.3309706","title":"Safety-Critical Cooperative Target Enclosing Control of Autonomous Surface Vehicles Based on Finite-Time Fuzzy Predictors and Input-to-State Safe High-Order Control Barrier Functions","display_name":"Safety-Critical Cooperative Target Enclosing Control of Autonomous Surface Vehicles Based on Finite-Time Fuzzy Predictors and Input-to-State Safe High-Order Control Barrier Functions","publication_year":2023,"publication_date":"2023-08-29","ids":{"openalex":"https://openalex.org/W4386264251","doi":"https://doi.org/10.1109/tfuzz.2023.3309706"},"language":"en","primary_location":{"id":"doi:10.1109/tfuzz.2023.3309706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2023.3309706","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","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/A5084985320","display_name":"Yue Jiang","orcid":"https://orcid.org/0000-0001-8047-2961"},"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":"Yue Jiang","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-8047-2961","affiliations":[{"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/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"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":"Zhouhua Peng","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-4468-7281","affiliations":[{"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/A5101739934","display_name":"Lu Liu","orcid":"https://orcid.org/0009-0006-6792-201X"},"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":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0009-0006-6792-201X","affiliations":[{"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/A5101593329","display_name":"Dan Wang","orcid":"https://orcid.org/0000-0002-4099-6004"},"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":"Dan Wang","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-4099-6004","affiliations":[{"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/A5068994727","display_name":"Fumin Zhang","orcid":"https://orcid.org/0000-0003-0053-4224"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fumin Zhang","raw_affiliation_strings":["Chen Kar-Shun Robotics Institute, Hong Kong University of Science and Technology, Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-0053-4224","affiliations":[{"raw_affiliation_string":"Chen Kar-Shun Robotics Institute, Hong Kong University of Science and Technology, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6957,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.97234811,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"32","issue":"3","first_page":"816","last_page":"830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973999857902527,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973999857902527,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9959999918937683,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.984499990940094,"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/control-theory","display_name":"Control theory (sociology)","score":0.7255592346191406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5344561338424683},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5251145958900452},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49666935205459595},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.46135684847831726},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4319627583026886},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.42225217819213867},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.41153228282928467},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.29710933566093445},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29450300335884094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2448805570602417},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1717377007007599},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15833812952041626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15475282073020935}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7255592346191406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5344561338424683},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5251145958900452},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49666935205459595},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.46135684847831726},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4319627583026886},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.42225217819213867},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.41153228282928467},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29710933566093445},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29450300335884094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2448805570602417},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1717377007007599},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15833812952041626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15475282073020935},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tfuzz.2023.3309706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2023.3309706","pdf_url":null,"source":{"id":"https://openalex.org/S134177497","display_name":"IEEE Transactions on Fuzzy Systems","issn_l":"1063-6706","issn":["1063-6706","1941-0034"],"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 Fuzzy Systems","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-130284","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-130284","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2934823595","display_name":null,"funder_award_id":"3132023508","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3349831039","display_name":null,"funder_award_id":"2023TQ0013","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"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"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"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":66,"referenced_works":["https://openalex.org/W1569189826","https://openalex.org/W1972149633","https://openalex.org/W2015008374","https://openalex.org/W2017116130","https://openalex.org/W2034887100","https://openalex.org/W2036316876","https://openalex.org/W2041789919","https://openalex.org/W2065632630","https://openalex.org/W2074547849","https://openalex.org/W2084163350","https://openalex.org/W2089060413","https://openalex.org/W2095910574","https://openalex.org/W2120638718","https://openalex.org/W2121607663","https://openalex.org/W2129275525","https://openalex.org/W2132450099","https://openalex.org/W2139504267","https://openalex.org/W2150872461","https://openalex.org/W2155067987","https://openalex.org/W2160612266","https://openalex.org/W2171505650","https://openalex.org/W2278307206","https://openalex.org/W2441808524","https://openalex.org/W2474795882","https://openalex.org/W2492811885","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2599768448","https://openalex.org/W2601452338","https://openalex.org/W2620839342","https://openalex.org/W2735177432","https://openalex.org/W2765550637","https://openalex.org/W2789826932","https://openalex.org/W2792406739","https://openalex.org/W2892618546","https://openalex.org/W2898166639","https://openalex.org/W2901756453","https://openalex.org/W2908854797","https://openalex.org/W2948452254","https://openalex.org/W2951036575","https://openalex.org/W2962920847","https://openalex.org/W2966893381","https://openalex.org/W2976431338","https://openalex.org/W2999650844","https://openalex.org/W3004775713","https://openalex.org/W3009101811","https://openalex.org/W3011468056","https://openalex.org/W3011814489","https://openalex.org/W3012147750","https://openalex.org/W3035009346","https://openalex.org/W3037669777","https://openalex.org/W3046925685","https://openalex.org/W3080681337","https://openalex.org/W3092056736","https://openalex.org/W3102238624","https://openalex.org/W3109074034","https://openalex.org/W3120308226","https://openalex.org/W3124444594","https://openalex.org/W3135251862","https://openalex.org/W3166078487","https://openalex.org/W3182505022","https://openalex.org/W3187161146","https://openalex.org/W3195647294","https://openalex.org/W4214756064","https://openalex.org/W4285219420","https://openalex.org/W4309039527"],"related_works":["https://openalex.org/W2385118824","https://openalex.org/W2359476137","https://openalex.org/W2362165903","https://openalex.org/W2575294667","https://openalex.org/W1892002403","https://openalex.org/W2378962668","https://openalex.org/W2760239433","https://openalex.org/W4309005041","https://openalex.org/W2358910850","https://openalex.org/W1548456315"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"cooperative":[3,38],"target":[4,39,49,74,79,84,191],"enclosing":[5,40,85,192],"of":[6,66,173,180,201],"underactuated":[7],"autonomous":[8],"surface":[9],"vehicles":[10],"(ASVs)":[11],"subject":[12],"to":[13,23,58,76,90,143,154,168],"obstacles.":[14],"Each":[15],"ASV":[16,164],"suffers":[17],"from":[18],"input":[19,31,122],"constraints":[20,120],"in":[21,185],"addition":[22],"unknown":[24,30,61],"kinetics":[25,62],"induced":[26],"by":[27,138],"model":[28],"nonlinearities,":[29],"gains,":[32],"and":[33,100,121,130,189],"external":[34],"disturbances.":[35,195],"A":[36],"safety-critical":[37,133,204],"control":[41,86,106,134,150,193,206],"method":[42,207],"is":[43,56,88,128,136,152],"proposed":[44,182,203],"for":[45,112,208],"surrounding":[46,210],"a":[47,52,72,81,92,124,211],"maneuvering":[48,212],"vehicle.":[50],"Specifically,":[51],"finite-time":[53,186],"fuzzy":[54,187],"predictor":[55],"presented":[57],"learn":[59],"the":[60,64,78,118,145,162,181,199,202],"with":[63],"integral":[65],"historical":[67],"vehicle":[68],"data.":[69],"By":[70],"using":[71,139],"distributed":[73,83],"estimator":[75],"recover":[77],"position,":[80],"nominal":[82],"law":[87,135],"developed":[89],"achieve":[91],"circumnavigation":[93],"formation.":[94],"To":[95],"avoid":[96],"collisions":[97],"between":[98],"ASVs":[99],"obstacles/team":[101],"members,":[102],"input-to-state":[103,156,170],"safe":[104,171],"high-order":[105,174],"barrier":[107],"functions":[108],"are":[109,166],"first":[110],"introduced":[111],"encoding":[113],"safety":[114,119],"constraints.":[115],"Based":[116],"on":[117],"constraints,":[123],"quadratic":[125],"programming":[126],"problem":[127],"formulated,":[129],"an":[131],"optimal":[132,146],"obtained":[137],"projection":[140],"neural":[141],"networks":[142],"track":[144],"solution.":[147],"The":[148,177],"closed-loop":[149],"system":[151],"proven":[153,167],"be":[155,169],"stable":[157],"via":[158],"Lyapunov":[159],"theory.":[160],"Moreover,":[161],"multiple":[163],"systems":[165],"regardless":[172],"relative":[175],"degree.":[176],"salient":[178],"contributions":[179],"approach":[183],"lie":[184],"learning":[188],"collision-free":[190],"under":[194],"Simulation":[196],"results":[197],"validate":[198],"effectiveness":[200],"model-free":[205],"cooperatively":[209],"target.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":14},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}
