{"id":"https://openalex.org/W4400906000","doi":"https://doi.org/10.1109/tvt.2024.3432742","title":"Finite-Time-Prescribed Performance-Based Platoon Formation Control for Unmanned Surface Vehicles Using Event-Triggered Extended State Observer","display_name":"Finite-Time-Prescribed Performance-Based Platoon Formation Control for Unmanned Surface Vehicles Using Event-Triggered Extended State Observer","publication_year":2024,"publication_date":"2024-07-23","ids":{"openalex":"https://openalex.org/W4400906000","doi":"https://doi.org/10.1109/tvt.2024.3432742"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3432742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3432742","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":null,"display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-3281-6971"},"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":"Wei Wang","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-3281-6971","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":"https://openalex.org/A5025349097","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":"middle","author":{"id":"https://openalex.org/A5036486474","display_name":"C. L. Philip Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"C. L. Philip Chen","raw_affiliation_strings":["School of Computer Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5451-7230","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yang Wang","orcid":"https://orcid.org/0000-0003-0487-2191"},"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":"Yang Wang","raw_affiliation_strings":["Navigation College, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-0487-2191","affiliations":[{"raw_affiliation_string":"Navigation College, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.2084,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.97035743,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"73","issue":"12","first_page":"18460","last_page":"18471"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955000281333923,"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":0.9955000281333923,"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":0.994700014591217,"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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9836999773979187,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/platoon","display_name":"Platoon","score":0.9393627643585205},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.653045654296875},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5439091324806213},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49782252311706543},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4967504143714905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4761614501476288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46457844972610474},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45818179845809937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42676177620887756},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37217333912849426},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.19081971049308777},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1257164180278778},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1064729392528534}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.9393627643585205},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.653045654296875},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5439091324806213},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49782252311706543},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4967504143714905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4761614501476288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46457844972610474},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45818179845809937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42676177620887756},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37217333912849426},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.19081971049308777},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1257164180278778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1064729392528534},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3432742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3432742","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":[{"score":0.4099999964237213,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G5139682657","display_name":"\u6d77\u6d0b\u822a\u884c\u5668\u81ea\u4e3b\u822a\u884c\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"51939001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7778972098","display_name":null,"funder_award_id":"52301418","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G935853612","display_name":null,"funder_award_id":"61976033)","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":45,"referenced_works":["https://openalex.org/W2083205579","https://openalex.org/W2094437443","https://openalex.org/W2097121541","https://openalex.org/W2119120935","https://openalex.org/W2379289466","https://openalex.org/W2603406422","https://openalex.org/W2612054959","https://openalex.org/W2761264428","https://openalex.org/W2762304185","https://openalex.org/W2799669463","https://openalex.org/W2804761573","https://openalex.org/W2888027894","https://openalex.org/W2905456320","https://openalex.org/W2905869119","https://openalex.org/W2926065969","https://openalex.org/W2944972447","https://openalex.org/W2950651031","https://openalex.org/W2951547513","https://openalex.org/W2957590566","https://openalex.org/W2967622731","https://openalex.org/W2971983880","https://openalex.org/W2979715977","https://openalex.org/W2981462393","https://openalex.org/W2991613924","https://openalex.org/W3011814489","https://openalex.org/W3024387281","https://openalex.org/W3109767144","https://openalex.org/W3124774482","https://openalex.org/W3126889909","https://openalex.org/W3128214224","https://openalex.org/W3131290367","https://openalex.org/W3134785541","https://openalex.org/W3190445033","https://openalex.org/W3193458730","https://openalex.org/W3217265368","https://openalex.org/W4220834701","https://openalex.org/W4224291894","https://openalex.org/W4226342866","https://openalex.org/W4285111930","https://openalex.org/W4295898027","https://openalex.org/W4312606238","https://openalex.org/W4312913393","https://openalex.org/W4317655965","https://openalex.org/W4367595705","https://openalex.org/W4379531887"],"related_works":["https://openalex.org/W4389371319","https://openalex.org/W3105967808","https://openalex.org/W2394201814","https://openalex.org/W2163875247","https://openalex.org/W4388855948","https://openalex.org/W4389544977","https://openalex.org/W2544838361","https://openalex.org/W4385236313","https://openalex.org/W2315418312","https://openalex.org/W3006156193"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"the":[3,44,58,68,93,109,128,135,139,142,155,168,173,178,187,196,201,208,211,217,221,236,241,244],"finite-time-prescribed":[4],"performance-based":[5],"(FTPP)":[6],"platoon":[7],"formation":[8],"control":[9,180,189,246],"problem":[10],"of":[11,108,147,175,195,243],"unmanned":[12],"surface":[13],"vehicles":[14],"(USVs)":[15],"with":[16,95],"connectivity":[17,76],"preservation":[18],"and":[19,33,47,62,75,85,111,200],"collision":[20,73],"avoidance.":[21],"Each":[22],"vehicle":[23,110],"is":[24,88,125,131,165],"subject":[25],"to":[26,71,90,100,133,141,171,216,226],"unmeasured":[27,102],"velocities,":[28],"model":[29],"uncertainties,":[30],"external":[31,114],"disturbances":[32],"actuator":[34,148],"input":[35,149],"delay.":[36],"By":[37],"introducing":[38],"a":[39,79,227],"finite-time":[40],"performance":[41],"function":[42],"(FTPF),":[43],"desired":[45,69,228],"transient":[46],"steady-state":[48],"performances":[49],"can":[50],"be":[51,65],"guaranteed":[52],"in":[53,177],"finite":[54,233],"time,":[55],"which":[56],"makes":[57],"line-of-sight":[59],"(LOS)":[60],"error":[61,64,224],"angle":[63,223],"limited":[66],"within":[67,232],"constraints":[70],"achieve":[72],"avoidance":[74],"maintenance.":[77],"Furthermore,":[78],"relevant":[80],"variable":[81],"containing":[82],"constrained":[83],"upper":[84],"lower":[86],"bounds":[87],"designed":[89],"further":[91,239],"realize":[92],"FTPP":[94],"asymmetric":[96],"properties.":[97],"In":[98],"order":[99],"recover":[101],"velocity":[103],"information,":[104],"estimate":[105],"uncertain":[106],"dynamics":[107,179],"compensate":[112],"for":[113],"disturbances,":[115],"an":[116],"extended":[117],"state":[118],"observer":[119,143],"(ESO)":[120],"based":[121],"on":[122],"position-heading":[123],"information":[124],"proposed.":[126],"Thereinto,":[127],"event-triggered":[129],"mechanism":[130],"introduced":[132,166],"reduce":[134],"communication":[136],"burden":[137],"from":[138],"sensor":[140],"channel.":[144],"The":[145,182],"effects":[146],"delay":[150],"are":[151,198],"eliminated":[152],"by":[153],"using":[154],"Pade":[156],"approximation":[157],"transform.":[158],"A":[159],"second-order":[160],"linear":[161],"tracking":[162,222],"differentiator":[163],"(TD)":[164],"into":[167],"kinematic":[169],"design":[170],"avoid":[172],"measurement":[174],"acceleration":[176],"design.":[181],"stability":[183],"analysis":[184],"shows":[185],"that":[186,192],"proposed":[188,245],"scheme":[190],"ensures":[191],"all":[193],"signals":[194],"USVs":[197,214],"bounded,":[199],"Zeno":[202],"behavior":[203],"will":[204],"not":[205],"occur.":[206],"Moreover,":[207],"distance":[209],"between":[210],"two":[212],"neighboring":[213],"converges":[215],"prescribed":[218],"range,":[219],"meanwhile,":[220],"limits":[225],"arbitrarily":[229],"small":[230],"region":[231],"time.":[234],"Finally,":[235],"simulation":[237],"results":[238],"confirm":[240],"effectiveness":[242],"scheme.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":16}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}