{"id":"https://openalex.org/W4415672082","doi":"https://doi.org/10.1109/tie.2025.3616404","title":"PID-Based Target Tracking for Underactuated ASVs With Online Reinforcement Learning","display_name":"PID-Based Target Tracking for Underactuated ASVs With Online Reinforcement Learning","publication_year":2025,"publication_date":"2025-10-29","ids":{"openalex":"https://openalex.org/W4415672082","doi":"https://doi.org/10.1109/tie.2025.3616404"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3616404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3616404","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/A5005579569","display_name":"Enjun Liu","orcid":"https://orcid.org/0009-0004-8071-2821"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Enjun Liu","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China"],"raw_orcid":"https://orcid.org/0009-0004-8071-2821","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004998505","display_name":"Shanling Dong","orcid":"https://orcid.org/0000-0002-1754-1829"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanling Dong","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China"],"raw_orcid":"https://orcid.org/0000-0002-1754-1829","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030997268","display_name":"Xiao He","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao He","raw_affiliation_strings":["Key Laboratory of Marine Intelligent Equipment and System Ministry of Education, Shanghai JiaoTong University, Shanghai, P.R. China"],"raw_orcid":"https://orcid.org/0009-0007-3728-8748","affiliations":[{"raw_affiliation_string":"Key Laboratory of Marine Intelligent Equipment and System Ministry of Education, Shanghai JiaoTong University, Shanghai, P.R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033808402","display_name":"Meiqin Liu","orcid":"https://orcid.org/0000-0003-0693-6574"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiqin Liu","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China"],"raw_orcid":"https://orcid.org/0000-0003-0693-6574","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061204419","display_name":"Zheng\u2010Guang Wu","orcid":"https://orcid.org/0000-0003-4460-9785"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng-Guang Wu","raw_affiliation_strings":["National Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P.R. China"],"raw_orcid":"https://orcid.org/0000-0003-4460-9785","affiliations":[{"raw_affiliation_string":"National Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005579569"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31760357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"2","first_page":"3339","last_page":"3348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.3653999865055084,"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":0.3653999865055084,"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":0.3052000105381012,"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/T12158","display_name":"Guidance and Control Systems","score":0.2272000014781952,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/underactuation","display_name":"Underactuation","score":0.9217000007629395},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7272999882698059},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6172000169754028},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5670999884605408},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5619000196456909},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.550000011920929},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.504800021648407}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9217000007629395},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7272999882698059},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6172000169754028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6040999889373779},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5670999884605408},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5619000196456909},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.550000011920929},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.504800021648407},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4609000086784363},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.42730000615119934},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3946000039577484},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.3840000033378601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3628999888896942},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3386000096797943},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3156999945640564},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30239999294281006},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.2615000009536743}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3616404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3616404","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/G1869210417","display_name":null,"funder_award_id":"U23B2035","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2017011168","https://openalex.org/W2914254289","https://openalex.org/W2938736712","https://openalex.org/W2943219189","https://openalex.org/W3023315057","https://openalex.org/W3117759025","https://openalex.org/W3131678030","https://openalex.org/W3165081880","https://openalex.org/W3185464543","https://openalex.org/W3193780079","https://openalex.org/W3215462818","https://openalex.org/W4226110357","https://openalex.org/W4283207838","https://openalex.org/W4311106480","https://openalex.org/W4319996475","https://openalex.org/W4321021722","https://openalex.org/W4376607912","https://openalex.org/W4378697240","https://openalex.org/W4387245268","https://openalex.org/W4388125267","https://openalex.org/W4388579701","https://openalex.org/W4390075218","https://openalex.org/W4390421940","https://openalex.org/W4396238870","https://openalex.org/W4396712847","https://openalex.org/W4400877711","https://openalex.org/W4402895034","https://openalex.org/W4403192478","https://openalex.org/W4403635834","https://openalex.org/W4404343351","https://openalex.org/W4406094897","https://openalex.org/W4407900666","https://openalex.org/W4409985909"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2],"the":[3,33,45,66,69,77,107],"target":[4,15,34],"tracking":[5,90],"problem":[6],"for":[7],"uncertain":[8],"underactuated":[9],"autonomous":[10],"surface":[11],"vehicles":[12],"with":[13,92],"unknown":[14],"velocity.":[16,35],"The":[17,104],"proposed":[18,86,108],"solution":[19],"consists":[20],"of":[21,68,106],"three":[22],"key":[23],"components.":[24],"First,":[25],"a":[26,37,59],"predefined-time":[27,38,61,78],"observer":[28],"is":[29,41,85,111],"developed":[30],"to":[31,43,87],"estimate":[32],"Second,":[36],"guidance":[39],"law":[40],"designed":[42],"generate":[44],"desired":[46],"surge":[47],"velocity":[48],"and":[49,115],"yaw":[50],"angle.":[51],"By":[52],"integrating":[53],"these":[54],"two":[55],"components,":[56],"we":[57],"establish":[58],"unified":[60],"observer-guidance":[62,79],"framework":[63],"that":[64],"enhances":[65],"stability":[67],"reinforcement":[70],"learning":[71],"(RL)":[72],"process.":[73],"Finally,":[74],"based":[75,100],"on":[76],"framework,":[80],"an":[81,98],"adaptive":[82],"proportional-integral-derivative":[83],"controller":[84],"ensure":[88],"effective":[89],"performance,":[91],"its":[93],"parameters":[94],"dynamically":[95],"optimized":[96],"through":[97,113],"actor-critic":[99],"online":[101],"RL":[102],"algorithm.":[103],"effectiveness":[105],"control":[109],"scheme":[110],"validated":[112],"simulation":[114],"experimental":[116],"results.":[117]},"counts_by_year":[],"updated_date":"2026-02-11T14:41:00.668223","created_date":"2025-10-29T00:00:00"}
