{"id":"https://openalex.org/W4409102176","doi":"https://doi.org/10.1109/tsmc.2025.3551601","title":"Fixed-Time Tracking Control of 3-D Collaborative Double Boom Cranes With Obstacle Avoidance and Prescribed Performance","display_name":"Fixed-Time Tracking Control of 3-D Collaborative Double Boom Cranes With Obstacle Avoidance and Prescribed Performance","publication_year":2025,"publication_date":"2025-04-03","ids":{"openalex":"https://openalex.org/W4409102176","doi":"https://doi.org/10.1109/tsmc.2025.3551601"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2025.3551601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3551601","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":"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/A5023717846","display_name":"Zhuoqing Liu","orcid":"https://orcid.org/0000-0003-4252-1958"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoqing Liu","raw_affiliation_strings":["Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4252-1958","affiliations":[{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036696237","display_name":"Tong Yang","orcid":"https://orcid.org/0000-0002-5682-4223"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Yang","raw_affiliation_strings":["Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5682-4223","affiliations":[{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100388562","display_name":"Lu Zhou","orcid":"https://orcid.org/0000-0001-6804-3865"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Zhou","raw_affiliation_strings":["Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-6804-3865","affiliations":[{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084704870","display_name":"Ning Sun","orcid":"https://orcid.org/0000-0002-5253-2944"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Sun","raw_affiliation_strings":["Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5253-2944","affiliations":[{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":3.1046,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.91668934,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"55","issue":"6","first_page":"4175","last_page":"4187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9782000184059143,"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":0.9782000184059143,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.972599983215332,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9412000179290771,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/boom","display_name":"Boom","score":0.8070775270462036},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6902971267700195},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6591801643371582},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5905527472496033},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5504985451698303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44465121626853943},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40608111023902893},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.35458147525787354},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3270402252674103},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.28723782300949097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2180495262145996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17718249559402466},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16930240392684937},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.16063883900642395},{"id":"https://openalex.org/keywords/history","display_name":"History","score":0.1472308337688446},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.08373093605041504}],"concepts":[{"id":"https://openalex.org/C141441539","wikidata":"https://www.wikidata.org/wiki/Q1970908","display_name":"Boom","level":2,"score":0.8070775270462036},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6902971267700195},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6591801643371582},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5905527472496033},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5504985451698303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44465121626853943},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40608111023902893},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.35458147525787354},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3270402252674103},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.28723782300949097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2180495262145996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17718249559402466},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16930240392684937},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.16063883900642395},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.1472308337688446},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.08373093605041504},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3551601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3551601","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":[],"awards":[{"id":"https://openalex.org/G1005241408","display_name":null,"funder_award_id":"U20A20198","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4867591765","display_name":null,"funder_award_id":"RCJC20231211090028054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5750753398","display_name":null,"funder_award_id":"2023A1515012669","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G7354470439","display_name":null,"funder_award_id":"62373198","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7406814713","display_name":null,"funder_award_id":"24JCZXJC00220","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1765365314","https://openalex.org/W1949543980","https://openalex.org/W1977108860","https://openalex.org/W1984168411","https://openalex.org/W1988876996","https://openalex.org/W2015113370","https://openalex.org/W2033237781","https://openalex.org/W2038283559","https://openalex.org/W2044040202","https://openalex.org/W2074833352","https://openalex.org/W2086049955","https://openalex.org/W2090600907","https://openalex.org/W2094531842","https://openalex.org/W2104350529","https://openalex.org/W2116037056","https://openalex.org/W2258152306","https://openalex.org/W2320074494","https://openalex.org/W2325985442","https://openalex.org/W2505381306","https://openalex.org/W2507917832","https://openalex.org/W2611533758","https://openalex.org/W2611756877","https://openalex.org/W2626457025","https://openalex.org/W2802917848","https://openalex.org/W2897614887","https://openalex.org/W2951367826","https://openalex.org/W2970216963","https://openalex.org/W2980245120","https://openalex.org/W2998800152","https://openalex.org/W3036084881","https://openalex.org/W3049032349","https://openalex.org/W3126793508","https://openalex.org/W3128808603","https://openalex.org/W3148511788","https://openalex.org/W3152890622","https://openalex.org/W3154562887","https://openalex.org/W3158542840","https://openalex.org/W3193553012","https://openalex.org/W4210278534","https://openalex.org/W4210733650","https://openalex.org/W4289856822","https://openalex.org/W4360993987","https://openalex.org/W4377001542","https://openalex.org/W4381163355","https://openalex.org/W4381282589","https://openalex.org/W4385731891","https://openalex.org/W4395664587"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Collaborative":[0],"double":[1],"boom":[2],"cranes":[3],"(CDBCs)":[4],"play":[5],"a":[6,82,114,168,200,215],"crucial":[7],"role":[8],"in":[9],"modern":[10],"industries,":[11],"offering":[12],"superior":[13],"hoisting":[14],"capabilities":[15],"and":[16,36,49,91,122,128,138,224],"adaptability.":[17],"However,":[18],"the":[19,99,109,131,135,159,222,229],"intricate":[20],"dynamic":[21,74],"characteristics":[22],"of":[23,140,228],"CDBCs,":[24,108],"combined":[25],"with":[26,88,179],"demanding":[27],"working":[28,59,136,234],"requirements,":[29],"pose":[30],"significant":[31],"challenges":[32],"for":[33,42,53,94,106,221],"control":[34,40,86],"safety":[35,62],"efficiency.":[37,60,123],"The":[38],"existing":[39],"methods":[41],"CDBCs":[43],"primarily":[44],"focus":[45],"on":[46,208,214],"two-dimensional":[47],"space":[48,137],"lack":[50],"theoretical":[51],"guarantees":[52],"rapid":[54],"error":[55],"convergence,":[56,149],"which":[57],"limits":[58],"Furthermore,":[61],"concerns":[63],"arise":[64],"when":[65],"collision-free":[66,103],"reference":[67,184],"trajectories":[68],"are":[69],"unavailable":[70,180],"or":[71,181],"incomplete":[72,182],"during":[73],"operations.":[75],"To":[76],"this":[77,79],"end,":[78],"article":[80],"proposes":[81],"novel":[83],"fixed-time":[84,148],"tracking":[85,104,165,223],"method":[87,105,111,133,161,231],"obstacle":[89,187,225],"avoidance":[90,188,226],"prescribed":[92,169],"performance":[93,170,227],"three-dimensional":[95],"(3-D)":[96],"CDBCs.":[97,142],"As":[98],"<italic":[100],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[101],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">first</i>":[102],"3-D":[107,141],"proposed":[110,132,160,230],"stands":[112],"as":[113],"noteworthy":[115],"contribution":[116],"aimed":[117],"at":[118],"improving":[119,151],"safety,":[120],"accuracy,":[121],"By":[124],"simultaneously":[125],"considering":[126],"pitch":[127],"rotation":[129],"motions,":[130],"expands":[134],"efficiency":[139],"Elaborately":[143],"designed":[144],"sliding":[145],"surfaces":[146],"ensure":[147],"thereby":[150,195],"response":[152],"speed.":[153],"For":[154],"safe":[155,183],"complete":[156],"trajectory":[157],"tracking,":[158],"can":[162],"limit":[163],"transient":[164],"errors":[166],"within":[167],"function,":[171],"preventing":[172],"collisions":[173],"from":[174],"unexpected":[175],"errors.":[176],"In":[177],"scenarios":[178],"trajectories,":[185],"autonomous":[186],"is":[189,205],"achieved":[190],"through":[191],"potential":[192],"function":[193],"design,":[194],"enhancing":[196],"operation":[197],"safety.":[198],"Additionally,":[199],"thorough":[201],"closed-loop":[202],"stability":[203],"analysis":[204],"provided":[206],"based":[207],"Lyapunov":[209],"methods.":[210],"Finally,":[211],"experimental":[212],"results":[213],"built":[216],"CDBC":[217],"prototype":[218],"offer":[219],"validation":[220],"under":[232],"various":[233],"conditions.":[235]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
