{"id":"https://openalex.org/W4404371485","doi":"https://doi.org/10.1109/tie.2024.3485626","title":"Adaptive Trajectory Tracking Control for Small Unmanned Underwater Vehicles With Prescribed Performance and Dynamic Compensation","display_name":"Adaptive Trajectory Tracking Control for Small Unmanned Underwater Vehicles With Prescribed Performance and Dynamic Compensation","publication_year":2024,"publication_date":"2024-11-14","ids":{"openalex":"https://openalex.org/W4404371485","doi":"https://doi.org/10.1109/tie.2024.3485626"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3485626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3485626","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/A5010555790","display_name":"Hongtao Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I88830068","display_name":"Shaanxi Normal University","ror":"https://ror.org/0170z8493","country_code":"CN","type":"education","lineage":["https://openalex.org/I88830068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtao Liang","raw_affiliation_strings":["School of Physics and Information Technology, Shaanxi Normal University, Xian, China"],"raw_orcid":"https://orcid.org/0000-0003-2817-6289","affiliations":[{"raw_affiliation_string":"School of Physics and Information Technology, Shaanxi Normal University, Xian, China","institution_ids":["https://openalex.org/I88830068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"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":"Junzhi Yu","raw_affiliation_strings":["College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6347-572X","affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100605691","display_name":"Huiping Li","orcid":"https://orcid.org/0000-0003-4620-8993"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiping Li","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xian, China"],"raw_orcid":"https://orcid.org/0000-0003-4620-8993","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xian, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.8877,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.95862177,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"72","issue":"6","first_page":"6297","last_page":"6306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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":0.998199999332428,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9779000282287598,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7331241369247437},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6489001512527466},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6321805715560913},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5974991321563721},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.5598741173744202},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5551062226295471},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5235921144485474},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.500774621963501},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.47423169016838074},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39104390144348145},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32562169432640076},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3241455554962158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32251203060150146},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21095341444015503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19092872738838196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1406192183494568},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12136036157608032},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07210639119148254}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7331241369247437},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6489001512527466},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6321805715560913},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5974991321563721},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.5598741173744202},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5551062226295471},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5235921144485474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.500774621963501},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.47423169016838074},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39104390144348145},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32562169432640076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3241455554962158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32251203060150146},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21095341444015503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19092872738838196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1406192183494568},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12136036157608032},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07210639119148254},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3485626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3485626","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":[{"score":0.699999988079071,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2369869800","display_name":null,"funder_award_id":"62203286","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7336379917","display_name":null,"funder_award_id":"12374440","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1969540296","https://openalex.org/W2004875789","https://openalex.org/W2068093684","https://openalex.org/W2121570671","https://openalex.org/W2150028611","https://openalex.org/W2285949792","https://openalex.org/W2372306012","https://openalex.org/W2510630379","https://openalex.org/W2612054959","https://openalex.org/W2802611068","https://openalex.org/W2901756453","https://openalex.org/W2944533946","https://openalex.org/W2995525702","https://openalex.org/W3134785541","https://openalex.org/W3153018575","https://openalex.org/W3168018105","https://openalex.org/W3208770388","https://openalex.org/W4220867866","https://openalex.org/W4281766083","https://openalex.org/W4312738556","https://openalex.org/W4376607912","https://openalex.org/W4379982837","https://openalex.org/W4384126911","https://openalex.org/W4384787996","https://openalex.org/W4391992336"],"related_works":["https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W2921408402","https://openalex.org/W4312767556","https://openalex.org/W2982615283","https://openalex.org/W2290286193","https://openalex.org/W4312370102","https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471"],"abstract_inverted_index":{"This":[0],"article":[1],"is":[2,41,91,131,140],"concerned":[3],"with":[4,16],"the":[5,44,52,75,96,154,157],"trajectory":[6],"tracking":[7,49],"control":[8,38,112],"problem":[9],"for":[10,43],"small":[11],"unmanned":[12],"underwater":[13],"vehicles":[14],"(UUVs)":[15],"dynamic":[17,97],"uncertainty,":[18],"external":[19],"disturbance,":[20],"input":[21],"saturation,":[22],"and":[23,30,46,70,110,120,126,150],"even":[24],"unmeasured":[25,135],"velocities.":[26,136],"To":[27,73],"guarantee":[28],"transient":[29],"steady-state":[31],"prescribed":[32,36],"performance,":[33],"a":[34,63,100,128],"finite-time":[35],"performance":[37],"(PPC)":[39],"method":[40],"designed":[42],"boundness":[45],"convergence":[47],"of":[48,67,78,156],"errors,":[50],"where":[51],"desired":[53],"settling":[54],"time":[55],"can":[56,103],"be":[57,104,143],"chosen":[58],"in":[59],"advance":[60],"to":[61,93,133,142],"obtain":[62],"fast":[64],"convergence,":[65],"instead":[66],"existing":[68],"exponential-time":[69],"asymptotic-time":[71],"convergence.":[72],"attenuate":[74],"adverse":[76],"effects":[77],"saturation":[79],"constraints,":[80],"an":[81],"energy-efficient":[82],"smoothing":[83],"auxiliary":[84],"system":[85,139],"governed":[86],"by":[87,116],"implementing":[88],"switching":[89],"functions":[90],"formulated":[92],"automatically":[94],"achieve":[95],"compensation,":[98],"wherein":[99],"discontinuous":[101],"singularity":[102],"completely":[105],"avoided.":[106],"Then,":[107],"both":[108],"full-state":[109],"output-feedback":[111],"schemes":[113],"are":[114],"developed":[115],"incorporating":[117],"neural":[118],"networks":[119],"first-order":[121],"filtering":[122],"into":[123],"backstepping":[124],"procedures,":[125],"particularly":[127],"high-gain":[129],"observer":[130],"employed":[132],"recover":[134],"The":[137],"closed-loop":[138],"proven":[141],"uniformly":[144],"ultimately":[145],"bounded":[146],"(UUB).":[147],"Finally,":[148],"simulation":[149],"experimental":[151],"results":[152],"validate":[153],"effectiveness":[155],"proposed":[158],"methods.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":10}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}