{"id":"https://openalex.org/W7076050148","doi":"https://doi.org/10.1109/tfuzz.2025.3599537","title":"Fuzzy Actor\u2013Critic Reinforcement Learning for Unmanned Surface Vessels Flexible Tracking Formation Control","display_name":"Fuzzy Actor\u2013Critic Reinforcement Learning for Unmanned Surface Vessels Flexible Tracking Formation Control","publication_year":2025,"publication_date":"2025-08-15","ids":{"openalex":"https://openalex.org/W7076050148","doi":"https://doi.org/10.1109/tfuzz.2025.3599537"},"language":"en","primary_location":{"id":"doi:10.1109/tfuzz.2025.3599537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2025.3599537","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":null,"display_name":"Renzhi Lu","orcid":"https://orcid.org/0000-0001-6845-1711"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Renzhi Lu","raw_affiliation_strings":["Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bohan Cen","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bohan Cen","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhonghui Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I147230869","display_name":"China Shipbuilding Industry Corporation (China)","ror":"https://ror.org/0410k9915","country_code":"CN","type":"company","lineage":["https://openalex.org/I147230869"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhonghui Hu","raw_affiliation_strings":["709th Research Institute of China Shipbuilding Industry Corporation, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"709th Research Institute of China Shipbuilding Industry Corporation, Wuhan, China","institution_ids":["https://openalex.org/I147230869"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Feng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129465","display_name":"Wuhan Ship Development & Design Institute","ror":"https://ror.org/02mcdae06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129465"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zhao","raw_affiliation_strings":["China Ship Scientific Research Center, Wuxi, China"],"affiliations":[{"raw_affiliation_string":"China Ship Scientific Research Center, Wuxi, China","institution_ids":["https://openalex.org/I4210129465"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Housheng Su","orcid":"https://orcid.org/0000-0002-7321-2923"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Housheng Su","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lijun Zhu","orcid":"https://orcid.org/0000-0002-2655-1818"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zhu","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hai-Tao Zhang","orcid":"https://orcid.org/0000-0002-8819-8829"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai-Tao Zhang","raw_affiliation_strings":["School of Artificial Intelligence and Automation, the Institute of Artificial Intelligence, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, the Institute of Artificial Intelligence, the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":15.9247,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.99099623,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"33","issue":"10","first_page":"3666","last_page":"3680"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10978","display_name":"Prenatal Screening and Diagnostics","score":0.32170000672340393,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10978","display_name":"Prenatal Screening and Diagnostics","score":0.32170000672340393,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10290","display_name":"Pregnancy and preeclampsia studies","score":0.050599999725818634,"subfield":{"id":"https://openalex.org/subfields/2729","display_name":"Obstetrics and Gynecology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12552","display_name":"Fetal and Pediatric Neurological Disorders","score":0.04820000007748604,"subfield":{"id":"https://openalex.org/subfields/2735","display_name":"Pediatrics, Perinatology and Child Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6855999827384949},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6675999760627747},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6244000196456909},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5936999917030334},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5357000231742859},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4952999949455261},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.460099995136261},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.44850000739097595}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6855999827384949},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6675999760627747},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6244000196456909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5946999788284302},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5936999917030334},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5357000231742859},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4952999949455261},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.460099995136261},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45910000801086426},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.44850000739097595},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4187999963760376},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.383899986743927},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3621000051498413},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.3562999963760376},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.32420000433921814},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.31029999256134033},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.3001999855041504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2985999882221222},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.287200003862381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28299999237060547},{"id":"https://openalex.org/C82327864","wikidata":"https://www.wikidata.org/wiki/Q835100","display_name":"Intelligent control","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tfuzz.2025.3599537","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tfuzz.2025.3599537","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1867760283","display_name":null,"funder_award_id":"62373158","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4119304363","display_name":null,"funder_award_id":"62225306","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6380561929","display_name":null,"funder_award_id":"Scip202211","funder_id":"https://openalex.org/F4320335669","funder_display_name":"Key Laboratory of System Control and Information Processing"},{"id":"https://openalex.org/G7056022014","display_name":null,"funder_award_id":"2022CFB041","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null},{"id":"https://openalex.org/F4320335669","display_name":"Key Laboratory of System Control and Information Processing","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2122836694","https://openalex.org/W2795276745","https://openalex.org/W2919706715","https://openalex.org/W2966893381","https://openalex.org/W3001257018","https://openalex.org/W3023077548","https://openalex.org/W3034625574","https://openalex.org/W3037008193","https://openalex.org/W3040994746","https://openalex.org/W3047221759","https://openalex.org/W3134710221","https://openalex.org/W3159925672","https://openalex.org/W3166078487","https://openalex.org/W3178416069","https://openalex.org/W3194824107","https://openalex.org/W4225885273","https://openalex.org/W4226342866","https://openalex.org/W4285066542","https://openalex.org/W4285291487","https://openalex.org/W4285506248","https://openalex.org/W4310935363","https://openalex.org/W4312467624","https://openalex.org/W4319341665","https://openalex.org/W4319459190","https://openalex.org/W4327521553","https://openalex.org/W4377079679","https://openalex.org/W4386264251","https://openalex.org/W4386696015","https://openalex.org/W4388742886","https://openalex.org/W4389454848","https://openalex.org/W4391547672","https://openalex.org/W4391620852","https://openalex.org/W4393105112","https://openalex.org/W4396712847","https://openalex.org/W4399452720","https://openalex.org/W4400678942","https://openalex.org/W4403060938","https://openalex.org/W4403534310","https://openalex.org/W4403769622","https://openalex.org/W4405717745","https://openalex.org/W4408609498"],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"surface":[1,38],"vessels":[2],"(USVs)":[3],"play":[4],"vital":[5],"roles":[6],"in":[7,25,65,144,163],"marine":[8,27],"operations,":[9],"including":[10],"environmental":[11,85,138],"monitoring,":[12],"resource":[13],"exploration,":[14],"and":[15,33,36,61,82,84,87,99,140,158,165],"rescue":[16],"missions.":[17],"However,":[18],"effective":[19],"tracking":[20,60,98,133,157],"formation":[21,62,100,131,159],"control":[22,48,63,101,110],"of":[23,102,107,121,161],"USVs":[24,162],"complex":[26],"environments":[28],"is":[29,72,93,112],"complicated":[30],"by":[31,137],"wind":[32],"wave":[34],"interference":[35],"unexpected":[37],"disturbances.":[39],"This":[40,153],"study":[41],"proposes":[42],"a":[43,52],"novel":[44],"actor-critic":[45],"reinforcement":[46,90],"learning":[47,91],"scheme,":[49],"integrated":[50],"with":[51,149],"fuzzy":[53],"logic":[54],"system":[55],"(FLS),":[56],"to":[57,74,95,127],"address":[58],"USV":[59,80,130],"problems":[64],"narrow":[66],"waterways.":[67],"Specifically,":[68],"an":[69,88],"FLS-based":[70],"observer":[71],"designed":[73],"estimate":[75],"unknown":[76],"parameters,":[77],"such":[78],"as":[79],"mass":[81],"speed,":[83],"disturbances,":[86],"actor\u2013critic":[89],"controller":[92],"developed":[94],"allow":[96],"for":[97],"multiple":[103],"USVs.":[104],"The":[105,115],"stability":[106],"the":[108,119,122,129,150,155],"proposed":[109],"scheme":[111],"formally":[113],"analyzed.":[114],"numerical":[116],"results":[117],"demonstrate":[118],"effectiveness":[120],"controller,":[123],"showcasing":[124],"its":[125],"ability":[126],"maintain":[128],"when":[132,147],"riverbanks":[134],"rendered":[135],"dynamic":[136],"disturbances":[139],"obtains":[141],"24.48%":[142],"reduction":[143],"trajectory":[145],"length":[146],"compared":[148],"existing":[151],"controllers.":[152],"improves":[154],"autonomous":[156],"capabilities":[160],"constrained":[164],"uncertain":[166],"environments.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}
