{"id":"https://openalex.org/W4388739423","doi":"https://doi.org/10.1109/tiv.2023.3333437","title":"Online Deep Learning Control of an Autonomous Surface Vehicle Using Learned Dynamics","display_name":"Online Deep Learning Control of an Autonomous Surface Vehicle Using Learned Dynamics","publication_year":2023,"publication_date":"2023-11-16","ids":{"openalex":"https://openalex.org/W4388739423","doi":"https://doi.org/10.1109/tiv.2023.3333437"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3333437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3333437","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","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/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"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","Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, 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"]},{"raw_affiliation_string":"Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021561317","display_name":"Fengbei Xia","orcid":"https://orcid.org/0000-0002-0921-473X"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"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":"Fengbei Xia","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-0921-473X","affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]},{"raw_affiliation_string":"Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"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/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"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","Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, 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"]},{"raw_affiliation_string":"Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"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/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]},{"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","Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, 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"]},{"raw_affiliation_string":"Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025349097","display_name":"Tieshan Li","orcid":"https://orcid.org/0000-0003-0474-953X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tieshan Li","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-0474-953X","affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114929039","display_name":"Ming Peng","orcid":"https://orcid.org/0009-0002-9036-036X"},"institutions":[{"id":"https://openalex.org/I4210118629","display_name":"NARI Group (China)","ror":"https://ror.org/02egn3136","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118629"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Peng","raw_affiliation_strings":["Jiangsu Automation Research Institute, Lianyungang, Jiangsu, China"],"raw_orcid":"https://orcid.org/0009-0002-9036-036X","affiliations":[{"raw_affiliation_string":"Jiangsu Automation Research Institute, Lianyungang, Jiangsu, China","institution_ids":["https://openalex.org/I4210118629"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9256,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.9426839,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"9","issue":"2","first_page":"3283","last_page":"3292"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9868000149726868,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9868000149726868,"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/T13050","display_name":"Oil and Gas Production Techniques","score":0.9854000210762024,"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/T14470","display_name":"Advanced Data Processing Techniques","score":0.9735000133514404,"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/dynamics","display_name":"Dynamics (music)","score":0.5589938163757324},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5242127180099487},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5198676586151123},{"id":"https://openalex.org/keywords/online-learning","display_name":"Online learning","score":0.4907852113246918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42720651626586914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3981061577796936},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2709435820579529},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.16094550490379333}],"concepts":[{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5589938163757324},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5242127180099487},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5198676586151123},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.4907852113246918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42720651626586914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3981061577796936},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2709435820579529},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.16094550490379333},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3333437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3333437","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2218876116","display_name":null,"funder_award_id":"52071044","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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/G5139682657","display_name":"\u6d77\u6d0b\u822a\u884c\u5668\u81ea\u4e3b\u822a\u884c\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"51939001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6145040941","display_name":null,"funder_award_id":"XLYC2007188","funder_id":"https://openalex.org/F4320329895","funder_display_name":"Liaoning Revitalization Talents Program"},{"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"},{"id":"https://openalex.org/G6348203224","display_name":null,"funder_award_id":"52271304","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/F4320329895","display_name":"Liaoning Revitalization Talents Program","ror":null},{"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":47,"referenced_works":["https://openalex.org/W2010927284","https://openalex.org/W2044698172","https://openalex.org/W2062219372","https://openalex.org/W2137983211","https://openalex.org/W2484425816","https://openalex.org/W2492811885","https://openalex.org/W2555176140","https://openalex.org/W2579065153","https://openalex.org/W2619551236","https://openalex.org/W2741032512","https://openalex.org/W2746614361","https://openalex.org/W2761264428","https://openalex.org/W2779598397","https://openalex.org/W2799290345","https://openalex.org/W2892618546","https://openalex.org/W2901402208","https://openalex.org/W2901756453","https://openalex.org/W2905364384","https://openalex.org/W2919115771","https://openalex.org/W2920076348","https://openalex.org/W2966149203","https://openalex.org/W2991629433","https://openalex.org/W3019166713","https://openalex.org/W3037669777","https://openalex.org/W3099548126","https://openalex.org/W3105252106","https://openalex.org/W3135251862","https://openalex.org/W3159243351","https://openalex.org/W3193458730","https://openalex.org/W3202317945","https://openalex.org/W3214567980","https://openalex.org/W4213061328","https://openalex.org/W4220689297","https://openalex.org/W4226073364","https://openalex.org/W4229014698","https://openalex.org/W4285241557","https://openalex.org/W4285287000","https://openalex.org/W4295745576","https://openalex.org/W4311431031","https://openalex.org/W4312667138","https://openalex.org/W4312788366","https://openalex.org/W4312811723","https://openalex.org/W4323345609","https://openalex.org/W4360995553","https://openalex.org/W4379618936","https://openalex.org/W6796763714","https://openalex.org/W6910546390"],"related_works":["https://openalex.org/W2731899572","https://openalex.org/W3215138031","https://openalex.org/W3009238340","https://openalex.org/W4360585206","https://openalex.org/W4321369474","https://openalex.org/W4285208911","https://openalex.org/W3082895349","https://openalex.org/W4213079790","https://openalex.org/W2248239756","https://openalex.org/W3086377361"],"abstract_inverted_index":{"Realtime":[0],"model":[1,47,126],"learning":[2,19,39,70,127,135],"is":[3,34,73,86,113,140,165,174,215],"a":[4,14,83,131],"challenging":[5],"task":[6],"for":[7,75,123,227],"autonomous":[8],"surface":[9],"vehicles":[10],"(ASVs)":[11],"sailing":[12],"in":[13],"variable":[15],"sea":[16],"environment.":[17],"Deep":[18],"based":[20,142],"on":[21,143],"deep":[22,69,134],"neural":[23],"networks":[24],"(DNNs)":[25],"takes":[26,57],"advantage":[27,58],"of":[28,59,120,186,223],"high":[29],"representative":[30],"capabilities.":[31],"However,":[32],"it":[33,164],"difficult":[35],"to":[36,43,78,90,107,115,218],"achieve":[37,79],"stable":[38,132,176],"control":[40,71,138,172,207],"performance":[41,200],"due":[42],"modeling":[44,118,154],"errors":[45,119,155],"or":[46],"bias.":[48],"On":[49],"the":[50,92,98,117,121,125,144,149,152,157,161,168,187,193,197,203,220,224],"other":[51],"hand,":[52],"extended":[53],"state":[54],"observer":[55],"(ESO)":[56],"fast":[60],"reconstructing":[61],"unknown":[62,93],"disturbances.":[63],"In":[64],"this":[65],"paper,":[66],"an":[67,76,111,210],"online":[68,96,133],"method":[72,195,226],"presented":[74],"ASV":[77,94,146],"trajectory":[80,136,170,189,212],"tracking.":[81],"Specifically,":[82],"general":[84],"DNN":[85,122,150],"constructed":[87],"at":[88,104],"first":[89],"learn":[91],"dynamics":[95,147],"with":[97,202],"collected":[99],"data":[100],"one":[101,103],"by":[102],"each":[105],"time":[106],"improve":[108],"scalability.":[109],"Then,":[110],"ESO":[112],"designed":[114,141],"estimate":[116],"improving":[124],"accuracy":[128],"further.":[129],"Finally,":[130],"tracking":[137,171,190,199,213],"law":[139],"learned":[145],"from":[148,156],"and":[151,177,205,230],"reconstructed":[153],"ESO.":[158],"By":[159],"using":[160],"cascade":[162],"theory,":[163],"proven":[166],"that":[167,192],"closed-loop":[169],"system":[173],"input-to-state":[175],"all":[178],"signals":[179],"are":[180],"uniformly":[181],"ultimately":[182],"bounded.":[183],"Simulation":[184],"results":[185],"circular":[188],"show":[191],"proposed":[194,225],"improves":[196],"transient":[198],"compared":[201],"DNN-based":[204],"ESO-based":[206],"methods.":[208],"Moreover,":[209],"\u201c8-type\u201d":[211],"simulation":[214],"further":[216],"provided":[217],"demonstrate":[219],"generalization":[221],"capabilities":[222],"new":[228,231],"trajectories":[229],"environments.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
