{"id":"https://openalex.org/W4387010630","doi":"https://doi.org/10.1109/tsmc.2023.3312268","title":"Intelligent Trajectory Tracking and Formation Control of Underactuated Autonomous Underwater Vehicles: A Critical Review","display_name":"Intelligent Trajectory Tracking and Formation Control of Underactuated Autonomous Underwater Vehicles: A Critical Review","publication_year":2023,"publication_date":"2023-09-25","ids":{"openalex":"https://openalex.org/W4387010630","doi":"https://doi.org/10.1109/tsmc.2023.3312268"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3312268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3312268","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"type":"review","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/A5035486559","display_name":"Meng Joo Er","orcid":"https://orcid.org/0000-0003-4597-7088"},"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":true,"raw_author_name":"Meng Joo Er","raw_affiliation_strings":["Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-4597-7088","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060194128","display_name":"Huibin Gong","orcid":null},"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":"Huibin Gong","raw_affiliation_strings":["Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-4008-3579","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100330626","display_name":"Yi Liu","orcid":"https://orcid.org/0000-0003-2088-8564"},"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":"Yi Liu","raw_affiliation_strings":["Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-2088-8564","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018129320","display_name":"Tianhe Liu","orcid":"https://orcid.org/0000-0001-8985-6590"},"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":"Tianhe Liu","raw_affiliation_strings":["Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-8985-6590","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Marine Robotics, College of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035486559"],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":null,"apc_paid":null,"fwci":18.0458,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.99782809,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"54","issue":"1","first_page":"543","last_page":"555"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976999759674072,"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":0.9945999979972839,"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/underactuation","display_name":"Underactuation","score":0.9551615715026855},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7747495174407959},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.619534432888031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5214775800704956},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5055768489837646},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4698098301887512},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44187644124031067},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40183451771736145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34099483489990234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2956791818141937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.247717946767807},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.22471070289611816}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9551615715026855},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7747495174407959},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.619534432888031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5214775800704956},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5055768489837646},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4698098301887512},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44187644124031067},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40183451771736145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34099483489990234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2956791818141937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.247717946767807},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.22471070289611816},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2023.3312268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3312268","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G3142875928","display_name":null,"funder_award_id":"00253007","funder_id":"https://openalex.org/F4320327404","funder_display_name":"Dalian Maritime University"},{"id":"https://openalex.org/G7209150067","display_name":null,"funder_award_id":"3132019344","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320327404","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53"},{"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":96,"referenced_works":["https://openalex.org/W1882865918","https://openalex.org/W1956244631","https://openalex.org/W1969705022","https://openalex.org/W1979027790","https://openalex.org/W2000359562","https://openalex.org/W2045614031","https://openalex.org/W2050238170","https://openalex.org/W2066392044","https://openalex.org/W2087260217","https://openalex.org/W2134961275","https://openalex.org/W2145041580","https://openalex.org/W2172248592","https://openalex.org/W2214731807","https://openalex.org/W2289666731","https://openalex.org/W2344327672","https://openalex.org/W2395913220","https://openalex.org/W2411333092","https://openalex.org/W2463523319","https://openalex.org/W2476930474","https://openalex.org/W2492811885","https://openalex.org/W2495564837","https://openalex.org/W2505012551","https://openalex.org/W2525627968","https://openalex.org/W2548260618","https://openalex.org/W2549092026","https://openalex.org/W2550408783","https://openalex.org/W2570494446","https://openalex.org/W2760687290","https://openalex.org/W2763814702","https://openalex.org/W2768537325","https://openalex.org/W2772589676","https://openalex.org/W2792852625","https://openalex.org/W2802611068","https://openalex.org/W2895095307","https://openalex.org/W2899366745","https://openalex.org/W2907217398","https://openalex.org/W2912864437","https://openalex.org/W2912873929","https://openalex.org/W2944567003","https://openalex.org/W2944752946","https://openalex.org/W2951976808","https://openalex.org/W2967890743","https://openalex.org/W2969880778","https://openalex.org/W2972258389","https://openalex.org/W2973607929","https://openalex.org/W2981026909","https://openalex.org/W2982500270","https://openalex.org/W2989333227","https://openalex.org/W2993537820","https://openalex.org/W2996450992","https://openalex.org/W3001069219","https://openalex.org/W3004723829","https://openalex.org/W3009525131","https://openalex.org/W3015193026","https://openalex.org/W3036407572","https://openalex.org/W3037669777","https://openalex.org/W3039205832","https://openalex.org/W3096244733","https://openalex.org/W3100789280","https://openalex.org/W3104400770","https://openalex.org/W3113339237","https://openalex.org/W3119350473","https://openalex.org/W3119780348","https://openalex.org/W3122269619","https://openalex.org/W3131290367","https://openalex.org/W3135020789","https://openalex.org/W3136864215","https://openalex.org/W3138345358","https://openalex.org/W3151269085","https://openalex.org/W3162181148","https://openalex.org/W3164385739","https://openalex.org/W3164586898","https://openalex.org/W3164901163","https://openalex.org/W3169809145","https://openalex.org/W3170716042","https://openalex.org/W3171514971","https://openalex.org/W3171859638","https://openalex.org/W3172170153","https://openalex.org/W3183611164","https://openalex.org/W3195760456","https://openalex.org/W3195884369","https://openalex.org/W3197397722","https://openalex.org/W3200454905","https://openalex.org/W3209393188","https://openalex.org/W3213603357","https://openalex.org/W4210615673","https://openalex.org/W4225466683","https://openalex.org/W4233884558","https://openalex.org/W4238758895","https://openalex.org/W4285211900","https://openalex.org/W4285247509","https://openalex.org/W4286500690","https://openalex.org/W4288391289","https://openalex.org/W4312317154","https://openalex.org/W4319865441","https://openalex.org/W6796315908"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"AUV":[0],"play":[1],"an":[2],"important":[3],"role":[4],"in":[5,21,58,111,128,156],"the":[6,11,26,44,120],"exploration":[7],"and":[8,34,49,72,87,100,131,142,149,160,166,168],"utilization":[9],"of":[10,41,46,75,96,103,119,134,163,178],"ocean.":[12],"Underactuated":[13],"autonomous":[14],"underwater":[15],"vehicles":[16],"(AUVs)":[17],"are":[18],"widely":[19],"used":[20],"these":[22],"missions":[23],"due":[24],"to":[25,63,109],"associated":[27],"low":[28,31],"manufacturing":[29],"costs,":[30],"power":[32],"consumption,":[33],"high":[35],"reliability.":[36],"Among":[37],"many":[38],"control":[39,51,66,74,81,102,133,162,180],"problems":[40,141],"underactuated":[42,76,104,135,164,187],"AUVs,":[43,105],"research":[45,68,140],"trajectory":[47,70,98,129,158],"tracking":[48,71,99,130,159],"formation":[50,73,101,132,161],"methods":[52,82],"has":[53],"become":[54],"a":[55,94,116],"hot":[56],"topic":[57],"recent":[59,154],"years.":[60],"In":[61,89],"order":[62],"obtain":[64],"superior":[65],"performance,":[67],"on":[69,79],"AUVs":[77,165],"based":[78],"intelligent":[80,97,157],"should":[83],"be":[84],"further":[85],"advanced":[86,179],"deepened.":[88],"this":[90,112],"context,":[91],"we":[92,123,173],"present":[93],"survey":[95],"which":[106],"is":[107],"beneficial":[108],"researchers":[110],"field.":[113],"To":[114],"facilitate":[115],"comprehensive":[117],"understanding":[118],"subject":[121],"matter,":[122],"review":[124,153],"some":[125,176],"preliminary":[126],"knowledge":[127],"AUVs.":[136,188],"We":[137,152],"also":[138],"highlight":[139],"challenges,":[143],"including":[144],"external":[145],"disturbances,":[146],"system":[147,150],"characteristics,":[148],"faults.":[151],"advances":[155],"analyze":[167],"discuss":[169],"their":[170],"characteristics.":[171],"Moreover,":[172],"put":[174],"forward":[175],"prospects":[177],"techniques,":[181],"especially":[182],"artificial":[183],"intelligence-based":[184],"techniques":[185],"for":[186]},"counts_by_year":[{"year":2026,"cited_by_count":14},{"year":2025,"cited_by_count":53},{"year":2024,"cited_by_count":30}],"updated_date":"2026-05-30T09:04:40.226872","created_date":"2025-10-10T00:00:00"}
