{"id":"https://openalex.org/W4399168764","doi":"https://doi.org/10.1109/tiv.2024.3407149","title":"Nonlinear ELM Estimator-Based Formation Control for Perturbed Unmanned Surface Vehicle Systems With Prescribed Performance","display_name":"Nonlinear ELM Estimator-Based Formation Control for Perturbed Unmanned Surface Vehicle Systems With Prescribed Performance","publication_year":2024,"publication_date":"2024-05-30","ids":{"openalex":"https://openalex.org/W4399168764","doi":"https://doi.org/10.1109/tiv.2024.3407149"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3407149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3407149","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/A5101943412","display_name":"Jiahuan Jiang","orcid":"https://orcid.org/0009-0008-9701-0331"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiahuan Jiang","raw_affiliation_strings":["Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","Shandong Provincial Key Laboratory of Computer Networks, Shandong Fundamental Research Center for Computer Science, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]},{"raw_affiliation_string":"Shandong Provincial Key Laboratory of Computer Networks, Shandong Fundamental Research Center for Computer Science, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaozheng Jin","orcid":"https://orcid.org/0000-0002-1354-2541"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaozheng Jin","raw_affiliation_strings":["Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","Shandong Provincial Key Laboratory of Computer Networks, Shandong Fundamental Research Center for Computer Science, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]},{"raw_affiliation_string":"Shandong Provincial Key Laboratory of Computer Networks, Shandong Fundamental Research Center for Computer Science, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066409796","display_name":"Xiangpeng Xie","orcid":"https://orcid.org/0000-0003-4822-3134"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangpeng Xie","raw_affiliation_strings":["Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009768180","display_name":"Hai Wang","orcid":"https://orcid.org/0000-0003-2789-9530"},"institutions":[{"id":"https://openalex.org/I176790772","display_name":"Murdoch University","ror":"https://ror.org/00r4sry34","country_code":"AU","type":"education","lineage":["https://openalex.org/I176790772"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hai Wang","raw_affiliation_strings":["Discipline of Engineering and Energy, Murdoch University, Murdoch, WA, Australia"],"affiliations":[{"raw_affiliation_string":"Discipline of Engineering and Energy, Murdoch University, Murdoch, WA, Australia","institution_ids":["https://openalex.org/I176790772"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101943412"],"corresponding_institution_ids":["https://openalex.org/I152269853","https://openalex.org/I154099455","https://openalex.org/I4210142748"],"apc_list":null,"apc_paid":null,"fwci":1.7119,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84741929,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"12","first_page":"8175","last_page":"8189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9761999845504761,"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/T12277","display_name":"Frequency Control in Power Systems","score":0.961899995803833,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/nonlinear-system","display_name":"Nonlinear system","score":0.7215403318405151},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6819822788238525},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.625271201133728},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.4648776054382324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36435407400131226},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34477686882019043},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2481808066368103},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24306505918502808},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16746211051940918},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07210427522659302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06664881110191345}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7215403318405151},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6819822788238525},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.625271201133728},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.4648776054382324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36435407400131226},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34477686882019043},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2481808066368103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24306505918502808},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16746211051940918},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07210427522659302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06664881110191345},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2024.3407149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3407149","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":[],"awards":[{"id":"https://openalex.org/G7261126740","display_name":null,"funder_award_id":"62373196","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8321220974","display_name":null,"funder_award_id":"62173193","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":52,"referenced_works":["https://openalex.org/W1996640396","https://openalex.org/W2084163350","https://openalex.org/W2119120935","https://openalex.org/W2160643434","https://openalex.org/W2168097327","https://openalex.org/W2580658983","https://openalex.org/W2761264428","https://openalex.org/W2762304185","https://openalex.org/W2811396787","https://openalex.org/W2896974094","https://openalex.org/W2948452254","https://openalex.org/W2958727589","https://openalex.org/W2969587240","https://openalex.org/W2971600404","https://openalex.org/W3001697395","https://openalex.org/W3033897398","https://openalex.org/W3094060072","https://openalex.org/W3109767144","https://openalex.org/W3119188238","https://openalex.org/W3126622223","https://openalex.org/W3127198723","https://openalex.org/W3127593745","https://openalex.org/W3128214224","https://openalex.org/W3132663004","https://openalex.org/W3132676906","https://openalex.org/W3136344416","https://openalex.org/W3152978417","https://openalex.org/W3155905652","https://openalex.org/W3158668667","https://openalex.org/W3163216900","https://openalex.org/W3172282364","https://openalex.org/W3193458730","https://openalex.org/W3193780079","https://openalex.org/W3203702125","https://openalex.org/W4200097771","https://openalex.org/W4211041118","https://openalex.org/W4290716062","https://openalex.org/W4292348153","https://openalex.org/W4292485649","https://openalex.org/W4310016830","https://openalex.org/W4312353439","https://openalex.org/W4319866408","https://openalex.org/W4321021722","https://openalex.org/W4364322385","https://openalex.org/W4377966740","https://openalex.org/W4378531193","https://openalex.org/W4379621960","https://openalex.org/W4381886214","https://openalex.org/W4386736624","https://openalex.org/W4386737224","https://openalex.org/W4388919353","https://openalex.org/W4389934653"],"related_works":["https://openalex.org/W4287880334","https://openalex.org/W4366700029","https://openalex.org/W4285230481","https://openalex.org/W4385769873","https://openalex.org/W4281634296","https://openalex.org/W4319161863","https://openalex.org/W2371687270","https://openalex.org/W4307819175","https://openalex.org/W4311888330","https://openalex.org/W2517641583"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,34,46,56,60,91,94,117,128,131,139],"challenge":[4],"of":[5,13,37,93,116,130],"achieving":[6],"resilient":[7],"formation":[8,65,114,134],"control":[9,66,73,78,115,135],"for":[10],"a":[11,63],"class":[12],"multiple":[14,95,118],"unmanned":[15],"surface":[16,72],"vehicles":[17],"(USVs)":[18],"systems":[19],"operating":[20],"amidst":[21],"perturbations,":[22,38],"which":[23],"encompass":[24],"external":[25],"disturbances":[26],"and":[27,75,88,108],"parametric":[28],"uncertainties.":[29],"In":[30],"order":[31],"to":[32,53,84,99,105],"alleviate":[33],"unfavorable":[35],"effects":[36],"an":[39],"innovative":[40],"nonlinear":[41,140],"perturbation":[42],"estimator":[43],"rooted":[44],"in":[45],"extreme":[47],"learning":[48],"machine":[49],"(ELM)":[50],"is":[51,68,83,121,143],"introduced":[52],"meticulously":[54],"evaluate":[55],"perturbations.":[57],"Based":[58],"on":[59,138],"estimation":[61],"results,":[62],"perturbation-rejection":[64,133],"scheme":[67],"designed":[69],"using":[70],"dynamic":[71],"(DSC)":[74],"prescribed":[76],"performance":[77],"(PPC)":[79],"technologies.":[80],"The":[81,112],"aim":[82],"prevent":[85,109],"complexity":[86],"explosion":[87],"ensure":[89],"that":[90],"errors":[92],"USVs":[96,104,119],"system":[97,120],"converge":[98],"predefined":[100],"regions,":[101],"thereby":[102],"enabling":[103],"avoid":[106],"collisions":[107],"communication":[110],"interruptions.":[111],"asymptotic":[113],"substantiated":[122],"through":[123,145],"Lyapunov":[124],"stability":[125],"theory.":[126],"Ultimately,":[127],"effectiveness":[129],"proposed":[132],"technique,":[136],"based":[137],"ELM-based":[141],"estimator,":[142],"validated":[144],"simulations.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}
