{"id":"https://openalex.org/W2913048170","doi":"https://doi.org/10.1109/tie.2018.2890500","title":"Full-State Regulation Control of Asymmetric Underactuated Surface Vehicles","display_name":"Full-State Regulation Control of Asymmetric Underactuated Surface Vehicles","publication_year":2019,"publication_date":"2019-01-24","ids":{"openalex":"https://openalex.org/W2913048170","doi":"https://doi.org/10.1109/tie.2018.2890500","mag":"2913048170"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2018.2890500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2018.2890500","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5058107332","display_name":"Ning Wang","orcid":"https://orcid.org/0000-0003-1745-1425"},"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":"Ning Wang","raw_affiliation_strings":["Center for Intelligent Marine Vehicles, and the School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-1745-1425","affiliations":[{"raw_affiliation_string":"Center for Intelligent Marine Vehicles, and the School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6504-0087","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052247682","display_name":"Xinxiang Pan","orcid":"https://orcid.org/0000-0002-0251-5679"},"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":"Xinxiang Pan","raw_affiliation_strings":["School of Marine Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035915560","display_name":"Shun\u2010Feng Su","orcid":"https://orcid.org/0000-0001-9777-128X"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shun-Feng Su","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei City, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9777-128X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei City, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.901,"has_fulltext":false,"cited_by_count":89,"citation_normalized_percentile":{"value":0.98407798,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"66","issue":"11","first_page":"8741","last_page":"8750"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987999796867371,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9750999808311462,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/underactuation","display_name":"Underactuation","score":0.8990592956542969},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7698925733566284},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7401279211044312},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5757245421409607},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5661447644233704},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.5532368421554565},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5419725775718689},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5078032612800598},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.5010221004486084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46592164039611816},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4404413104057312},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.42454037070274353},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.41556161642074585},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3304668068885803},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29316550493240356},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21018028259277344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16560903191566467},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12182575464248657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1138262152671814},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.10868895053863525},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08085080981254578}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8990592956542969},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7698925733566284},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7401279211044312},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5757245421409607},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5661447644233704},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.5532368421554565},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5419725775718689},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5078032612800598},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.5010221004486084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46592164039611816},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4404413104057312},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.42454037070274353},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.41556161642074585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3304668068885803},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29316550493240356},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21018028259277344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16560903191566467},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12182575464248657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1138262152671814},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.10868895053863525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08085080981254578},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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":1,"locations":[{"id":"doi:10.1109/tie.2018.2890500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2018.2890500","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2976687843","display_name":null,"funder_award_id":"3132018126","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3672996030","display_name":null,"funder_award_id":"51379002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6681022191","display_name":null,"funder_award_id":"3132016314","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7129526599","display_name":null,"funder_award_id":"51009017","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/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":43,"referenced_works":["https://openalex.org/W587013945","https://openalex.org/W1164092848","https://openalex.org/W1551896781","https://openalex.org/W1938173326","https://openalex.org/W1971044547","https://openalex.org/W1977992720","https://openalex.org/W2004875789","https://openalex.org/W2010956689","https://openalex.org/W2022467028","https://openalex.org/W2033699235","https://openalex.org/W2073887133","https://openalex.org/W2084163350","https://openalex.org/W2094156061","https://openalex.org/W2100510662","https://openalex.org/W2102620728","https://openalex.org/W2122513851","https://openalex.org/W2123998235","https://openalex.org/W2127988032","https://openalex.org/W2133342311","https://openalex.org/W2141045865","https://openalex.org/W2148821382","https://openalex.org/W2160612266","https://openalex.org/W2295495433","https://openalex.org/W2492811885","https://openalex.org/W2505012551","https://openalex.org/W2560463610","https://openalex.org/W2625020463","https://openalex.org/W2626009994","https://openalex.org/W2743764890","https://openalex.org/W2746106790","https://openalex.org/W2756890511","https://openalex.org/W2756959509","https://openalex.org/W2760119996","https://openalex.org/W2761264428","https://openalex.org/W2768276274","https://openalex.org/W2787423323","https://openalex.org/W2787963636","https://openalex.org/W2803650973","https://openalex.org/W2809349980","https://openalex.org/W2811101845","https://openalex.org/W2896556976","https://openalex.org/W6642962755","https://openalex.org/W6652910708"],"related_works":["https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2394227063","https://openalex.org/W2217718355","https://openalex.org/W3205444542","https://openalex.org/W2106586754","https://openalex.org/W1498122250","https://openalex.org/W1586853305","https://openalex.org/W1969553787","https://openalex.org/W2036009937"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,51,64,75,105,113,154],"challenging":[4],"problem":[5],"of":[6,66],"full-state":[7,60],"regulation":[8],"control":[9],"(FSRC)":[10],"for":[11],"an":[12],"asymmetric":[13],"underactuated":[14],"surface":[15],"vehicle":[16],"(AUSV)":[17],"suffering":[18],"from":[19],"disturbances":[20,89],"is":[21,26,47,110,145],"solved.":[22],"The":[23,44],"FSRC":[24,137],"objective":[25],"divided":[27],"into":[28],"two":[29],"subtasks,":[30],"i.e.,":[31],"reaching":[32],"trajectory":[33],"(RT)":[34],"guidance":[35,46],"and":[36,42,100,122,126,132],"tracking":[37,69],"controller":[38],"synthesis":[39],"with":[40,79,117],"underactuation":[41],"disturbances.":[43],"RT":[45],"achieved":[48],"by":[49,93],"devising":[50],"circular":[52],"orbit":[53],"(CO)":[54],"accurately":[55,91],"passing":[56],"through":[57],"the":[58,82,134,143,148],"desired":[59,149],"waypoint":[61],"(FWP).":[62],"Using":[63,85],"series":[65],"coordinate":[67],"transformations,":[68],"error":[70],"dynamics":[71],"are":[72,90,129,157],"shaped":[73],"in":[74],"translation-rotation":[76],"cascade":[77,120],"form":[78],"respect":[80],"to":[81,112,147,159],"CO-center":[83],"frame.":[84],"finite-time":[86],"approach,":[87,124],"lumped":[88],"estimated":[92],"exact":[94],"observers,":[95],"which":[96],"facilitate":[97],"synthesizing":[98],"surge":[99],"yaw":[101],"controllers.":[102],"By":[103],"creating":[104],"new":[106],"coordinate,":[107],"translation":[108,125],"subsystem":[109],"converted":[111],"lower-triangular":[114],"form.":[115],"Combining":[116],"backstepping":[118],"technique,":[119],"analysis":[121],"Lypunov":[123],"rotation":[127],"controllers":[128],"derived":[130],"systematically,":[131],"render":[133],"entire":[135],"closed-loop":[136],"system":[138],"globally":[139],"asymptotically":[140],"stable.":[141],"Hence,":[142],"AUSV":[144,156],"regulated":[146],"FWP.":[150],"Simulation":[151],"studies":[152],"on":[153],"benchmark":[155],"conducted":[158],"demonstrate":[160],"remarkable":[161],"performance.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":30}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
