{"id":"https://openalex.org/W7093081860","doi":"https://doi.org/10.1109/tsmc.2025.3620317","title":"Nonsingular Finite-Time Tracking Control for a Differential-Driven Unmanned Surface Vehicle Considering Propulsion Servo Loop","display_name":"Nonsingular Finite-Time Tracking Control for a Differential-Driven Unmanned Surface Vehicle Considering Propulsion Servo Loop","publication_year":2025,"publication_date":"2025-10-21","ids":{"openalex":"https://openalex.org/W7093081860","doi":"https://doi.org/10.1109/tsmc.2025.3620317"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2025.3620317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3620317","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":null,"display_name":"Yuanbo Su","orcid":"https://orcid.org/0000-0001-6398-3196"},"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":"Yuanbo Su","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-6398-3196","affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qihe Shan","orcid":"https://orcid.org/0000-0002-5215-4744"},"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":"Qihe Shan","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-5215-4744","affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":null,"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":null,"display_name":"Hongjing Liang","orcid":"https://orcid.org/0000-0003-1480-1872"},"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":"Hongjing Liang","raw_affiliation_strings":["School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-1480-1872","affiliations":[{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4973,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.83848304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"55","issue":"12","first_page":"9693","last_page":"9706"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7577000260353088,"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":0.7577000260353088,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.047600001096725464,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.04170000180602074,"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/control-theory","display_name":"Control theory (sociology)","score":0.8269000053405762},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.6916999816894531},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48669999837875366},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.44690001010894775},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.400299996137619},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.38760000467300415},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.36329999566078186},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.35989999771118164},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3456999957561493}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8269000053405762},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.6916999816894531},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.44690001010894775},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4277999997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40799999237060547},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.400299996137619},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38830000162124634},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.38760000467300415},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.36329999566078186},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.35989999771118164},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3456999957561493},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3424000144004822},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.33629998564720154},{"id":"https://openalex.org/C45641319","wikidata":"https://www.wikidata.org/wiki/Q550768","display_name":"Electronic speed control","level":2,"score":0.3260999917984009},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.32249999046325684},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.28519999980926514},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.2800999879837036},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C49581611","wikidata":"https://www.wikidata.org/wiki/Q7455931","display_name":"Servo drive","level":3,"score":0.2578999996185303},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.25780001282691956},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.25699999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3620317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3620317","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5637091398239136}],"awards":[{"id":"https://openalex.org/G3075804322","display_name":null,"funder_award_id":"(62322307)","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3778833706","display_name":null,"funder_award_id":"52371360","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3948045491","display_name":null,"funder_award_id":"XLYC 1908018","funder_id":"https://openalex.org/F4320329895","funder_display_name":"Liaoning Revitalization Talents Program"}],"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}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1979517588","https://openalex.org/W1984010993","https://openalex.org/W2064942388","https://openalex.org/W2097273423","https://openalex.org/W2114081607","https://openalex.org/W2129275525","https://openalex.org/W2136605942","https://openalex.org/W2175091750","https://openalex.org/W2176569996","https://openalex.org/W2303623326","https://openalex.org/W2329867535","https://openalex.org/W2531086478","https://openalex.org/W2905039588","https://openalex.org/W2946789952","https://openalex.org/W3013512999","https://openalex.org/W3115527645","https://openalex.org/W3138273333","https://openalex.org/W3163734244","https://openalex.org/W3196571544","https://openalex.org/W3202084630","https://openalex.org/W3215910331","https://openalex.org/W4210357131","https://openalex.org/W4313019746","https://openalex.org/W4327521553","https://openalex.org/W4328007669","https://openalex.org/W4360995271","https://openalex.org/W4381235058","https://openalex.org/W4384197206","https://openalex.org/W4385144976","https://openalex.org/W4387129571","https://openalex.org/W4388878399","https://openalex.org/W4389331490","https://openalex.org/W4391019876","https://openalex.org/W4393307070","https://openalex.org/W4396238870","https://openalex.org/W4400906000","https://openalex.org/W4401536728","https://openalex.org/W4403182736","https://openalex.org/W4403511115","https://openalex.org/W4403539627","https://openalex.org/W4403600561","https://openalex.org/W4403635834","https://openalex.org/W4403918723","https://openalex.org/W4404056970","https://openalex.org/W4405582444","https://openalex.org/W4405933903","https://openalex.org/W4406028216","https://openalex.org/W4409249101","https://openalex.org/W4411639758"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2],"the":[3,17,34,38,43,48,52,56,67,71,77,81,91,96,106,110,115,119,122,130,137,142,148,153,156,168,172,176,182,191,195,202,205],"finite-time":[4,39,192],"trajectory":[5],"tracking":[6,68,107],"control":[7,40,49,79,116,144,159,207],"problem":[8,150,179],"for":[9,27,70,94,109],"a":[10],"differential-driven":[11],"unmanned":[12],"surface":[13],"vehicle":[14],"(USV)":[15],"considering":[16],"propulsion":[18],"servo":[19],"loop.":[20],"A":[21],"nonsingular":[22],"design":[23,50,117],"approach":[24],"is":[25],"presented":[26,206],"kinematic,":[28],"kinetic,":[29],"and":[30,60,85,161],"actuated":[31,111,120],"levels":[32],"of":[33,51,118,155,194,204],"USV":[35],"to":[36,128,135,152,189],"construct":[37],"laws":[41],"via":[42],"command-filtered":[44],"backstepping":[45],"technique.":[46],"First,":[47],"kinematic":[53],"level":[54,93],"obtains":[55],"virtual":[57,82,157],"surge":[58,83],"speed":[59,158,164],"yaw":[61,86],"rate,":[62],"which":[63,102],"are":[64,88,103,126],"filtered":[65,104,138],"as":[66,105],"commands":[69,108],"kinetic":[72,92],"level.":[73,112],"Second,":[74],"based":[75],"on":[76],"intermediate":[78],"laws,":[80],"force":[84,129],"moment":[87],"designed":[89,127,143],"at":[90],"determining":[95],"desired":[97,162],"propeller":[98],"motor":[99,132,183],"shaft":[100,133,163],"speeds,":[101],"Third,":[113],"in":[114],"level,":[121],"command":[123],"duty":[124],"cycles":[125],"actual":[131],"speeds":[134],"track":[136],"reference":[139],"commands.":[140],"Moreover,":[141],"scheme":[145],"can":[146,186],"avoid":[147],"singularity":[149],"due":[151],"avoidance":[154],"law":[160],"derivations.":[165],"By":[166],"designing":[167],"auxiliary":[169],"system":[170],"with":[171],"exponential":[173],"power":[174],"variable,":[175],"input":[177],"saturation":[178],"caused":[180],"by":[181],"armature":[184],"voltage":[185],"be":[187],"addressed":[188],"guarantee":[190],"stability":[193],"closed-loop":[196],"system.":[197],"Finally,":[198],"experimental":[199],"results":[200],"demonstrate":[201],"effectiveness":[203],"approach.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-22T00:00:00"}