{"id":"https://openalex.org/W3109767144","doi":"https://doi.org/10.1109/tvt.2020.3039220","title":"Adaptive Fuzzy Backstepping-Based Formation Control of Unmanned Surface Vehicles With Unknown Model Nonlinearity and Actuator Saturation","display_name":"Adaptive Fuzzy Backstepping-Based Formation Control of Unmanned Surface Vehicles With Unknown Model Nonlinearity and Actuator Saturation","publication_year":2020,"publication_date":"2020-11-20","ids":{"openalex":"https://openalex.org/W3109767144","doi":"https://doi.org/10.1109/tvt.2020.3039220","mag":"3109767144"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.3039220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3039220","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5002452223","display_name":"Weixiang Zhou","orcid":"https://orcid.org/0000-0002-6763-6391"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weixiang Zhou","raw_affiliation_strings":["College of Information Engineering, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661700","display_name":"Yueying Wang","orcid":"https://orcid.org/0000-0001-9737-6765"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueying Wang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9737-6765","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084993350","display_name":"Choon Ki Ahn","orcid":"https://orcid.org/0000-0003-0993-9658"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Choon Ki Ahn","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0993-9658","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085029208","display_name":"Jun Cheng","orcid":"https://orcid.org/0000-0002-3483-747X"},"institutions":[{"id":"https://openalex.org/I29739308","display_name":"Guangxi Normal University","ror":"https://ror.org/02frt9q65","country_code":"CN","type":"education","lineage":["https://openalex.org/I29739308"]},{"id":"https://openalex.org/I4210125143","display_name":"Chengdu University","ror":"https://ror.org/034z67559","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210125143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Cheng","raw_affiliation_strings":["College of Mathematics and Statistics, Guangxi Normal University, Guilin, China","School of Information Science and Engineering, Chengdu University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-3483-747X","affiliations":[{"raw_affiliation_string":"College of Mathematics and Statistics, Guangxi Normal University, Guilin, China","institution_ids":["https://openalex.org/I29739308"]},{"raw_affiliation_string":"School of Information Science and Engineering, Chengdu University, Chengdu, China","institution_ids":["https://openalex.org/I4210125143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100630346","display_name":"Chaoyang Chen","orcid":"https://orcid.org/0000-0002-8095-399X"},"institutions":[{"id":"https://openalex.org/I121296143","display_name":"Hunan University of Science and Technology","ror":"https://ror.org/02m9vrb24","country_code":"CN","type":"education","lineage":["https://openalex.org/I121296143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Chen","raw_affiliation_strings":["School of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China"],"raw_orcid":"https://orcid.org/0000-0002-8095-399X","affiliations":[{"raw_affiliation_string":"School of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China","institution_ids":["https://openalex.org/I121296143"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.044,"has_fulltext":false,"cited_by_count":244,"citation_normalized_percentile":{"value":0.98991446,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"69","issue":"12","first_page":"14749","last_page":"14764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976999759674072,"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"}},"topics":[{"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9944000244140625,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9868000149726868,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8508906364440918},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8267949819564819},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.708689272403717},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6175878643989563},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5212117433547974},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4855887293815613},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.4670150876045227},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4617270529270172},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4536347985267639},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.44775456190109253},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41829168796539307},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4176274836063385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3883640766143799},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20528608560562134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10300254821777344},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06393057107925415}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8508906364440918},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8267949819564819},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.708689272403717},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6175878643989563},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5212117433547974},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4855887293815613},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.4670150876045227},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4617270529270172},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4536347985267639},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.44775456190109253},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41829168796539307},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4176274836063385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3883640766143799},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20528608560562134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10300254821777344},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06393057107925415},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/tvt.2020.3039220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3039220","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4316613645","display_name":null,"funder_award_id":"61973110","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G434923280","display_name":"\u57fa\u4e8e\u6df7\u5408\u89e6\u53d1\u673a\u5236\u7684\u968f\u673a\u901a\u8baf\u53d7\u9650\u7f51\u7edc\u63a7\u5236\u7cfb\u7edf\u7684\u63a7\u5236\u7406\u8bba\u4e0e\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61673178","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6568461374","display_name":null,"funder_award_id":"61703275","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7193831338","display_name":null,"funder_award_id":"NRF\u20102020R1A2C1005449","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1517023801","https://openalex.org/W1866654860","https://openalex.org/W1964453066","https://openalex.org/W2048848526","https://openalex.org/W2052487511","https://openalex.org/W2064761238","https://openalex.org/W2099918968","https://openalex.org/W2103005464","https://openalex.org/W2117516628","https://openalex.org/W2119959427","https://openalex.org/W2125298858","https://openalex.org/W2129891269","https://openalex.org/W2163734824","https://openalex.org/W2317809464","https://openalex.org/W2345644119","https://openalex.org/W2522467183","https://openalex.org/W2762304185","https://openalex.org/W2765082137","https://openalex.org/W2768405673","https://openalex.org/W2772804860","https://openalex.org/W2774922731","https://openalex.org/W2775289694","https://openalex.org/W2792977495","https://openalex.org/W2807248350","https://openalex.org/W2886299710","https://openalex.org/W2900861938","https://openalex.org/W2908657315","https://openalex.org/W2910787596","https://openalex.org/W2915315059","https://openalex.org/W2950667132","https://openalex.org/W2959450447","https://openalex.org/W2963086459","https://openalex.org/W2999358808","https://openalex.org/W2999934039","https://openalex.org/W3045030108"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W3201063403","https://openalex.org/W3022045186","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2115512691","https://openalex.org/W2162992672","https://openalex.org/W2792368061"],"abstract_inverted_index":{"In":[0,51],"this":[1],"article,":[2],"the":[3,29,35,40,45,48,52,65,72,77,86,98,102,105,119,122,129,132,138],"formation":[4,54],"control":[5,55],"of":[6,108,121,131],"unmanned":[7],"surface":[8],"vehicles":[9],"(USVs)":[10],"is":[11,60,83,90,125,135],"addressed":[12],"considering":[13],"actuator":[14],"saturation":[15],"and":[16,38,85,115,140],"unknown":[17,94],"nonlinear":[18,95],"items.":[19],"The":[20],"algorithm":[21],"can":[22,68],"be":[23,69],"divided":[24],"into":[25],"two":[26],"parts,":[27],"steering":[28,39],"leader":[30,46,66],"USV":[31,42,59,67],"to":[32,43,71,92],"trace":[33],"along":[34],"desired":[36,49,73,103,106],"path":[37],"follower":[41,109],"follow":[44],"in":[47,97],"formation.":[50],"proposed":[53,133],"framework,":[56],"a":[57],"virtual":[58],"first":[61],"constructed":[62],"so":[63],"that":[64],"guided":[70],"path.":[74],"To":[75,100],"solve":[76],"input":[78],"constraint":[79],"problem,":[80],"an":[81],"auxiliary":[82],"introduced,":[84],"adaptive":[87],"fuzzy":[88],"method":[89],"used":[91],"estimate":[93],"items":[96],"USV.":[99],"maintain":[101],"formation,":[104],"velocities":[107],"USVs":[110],"are":[111],"deduced":[112],"using":[113],"geometry":[114],"Lyapunov":[116],"stability":[117,120],"theories;":[118],"closed-loop":[123],"system":[124],"also":[126],"proved.":[127],"Finally,":[128],"effectiveness":[130],"approach":[134],"demonstrated":[136],"by":[137],"simulation":[139],"experimental":[141],"results.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":20},{"year":2025,"cited_by_count":59},{"year":2024,"cited_by_count":68},{"year":2023,"cited_by_count":41},{"year":2022,"cited_by_count":34},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-08T07:41:36.138363","created_date":"2025-10-10T00:00:00"}