{"id":"https://openalex.org/W4412404352","doi":"https://doi.org/10.1109/tvt.2025.3589082","title":"COLREGS-Constrained Parallel Path-Following Control of Under-Actuated Maritime Autonomous Surface Ships Based on High-Order Learning Extended State Observer","display_name":"COLREGS-Constrained Parallel Path-Following Control of Under-Actuated Maritime Autonomous Surface Ships Based on High-Order Learning Extended State Observer","publication_year":2025,"publication_date":"2025-07-14","ids":{"openalex":"https://openalex.org/W4412404352","doi":"https://doi.org/10.1109/tvt.2025.3589082"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3589082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3589082","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/A5021000045","display_name":"Jiaxue Xu","orcid":"https://orcid.org/0009-0000-0815-2883"},"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":"Jiaxue Xu","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0009-0000-0815-2883","affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025111505","display_name":"Nan Gu","orcid":"https://orcid.org/0000-0002-2214-9928"},"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":"Nan Gu","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-2214-9928","affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, 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":null,"display_name":"Bing Han","orcid":"https://orcid.org/0000-0002-3020-3015"},"institutions":[{"id":"https://openalex.org/I4210097049","display_name":"Shanghai Ship and Shipping Research Institute","ror":"https://ror.org/00z9npm78","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210097049"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Han","raw_affiliation_strings":["National Engineering Research Center of Ship and Shipping Control System, Shanghai Ship and Shipping Research Institute, Shanghai, China","National Engineering Research Center of Ship & Shipping Control System, Shanghai Ship and Shipping Research Institute, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3020-3015","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Ship and Shipping Control System, Shanghai Ship and Shipping Research Institute, Shanghai, China","institution_ids":["https://openalex.org/I4210097049"]},{"raw_affiliation_string":"National Engineering Research Center of Ship & Shipping Control System, Shanghai Ship and Shipping Research Institute, Shanghai, China","institution_ids":["https://openalex.org/I4210097049"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"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":"Zhouhua Peng","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-4468-7281","affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, 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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17188821,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"74","issue":"12","first_page":"18635","last_page":"18644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9919999837875366,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9919999837875366,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.987500011920929,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9764999747276306,"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/state-observer","display_name":"State observer","score":0.6334038376808167},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.6000990867614746},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5488215684890747},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5118674635887146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4915553033351898},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4867091476917267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.455728679895401},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.453165203332901},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.4346827566623688},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42866218090057373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42638200521469116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.250892698764801},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.23246189951896667},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.168641597032547},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11269602179527283},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09803268313407898},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08090323209762573}],"concepts":[{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.6334038376808167},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.6000990867614746},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5488215684890747},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5118674635887146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4915553033351898},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4867091476917267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.455728679895401},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.453165203332901},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.4346827566623688},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42866218090057373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42638200521469116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.250892698764801},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.23246189951896667},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.168641597032547},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11269602179527283},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09803268313407898},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08090323209762573},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3589082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3589082","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/G7160276117","display_name":null,"funder_award_id":"52471372","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":49,"referenced_works":["https://openalex.org/W1974854420","https://openalex.org/W2010750115","https://openalex.org/W2104843094","https://openalex.org/W2107776472","https://openalex.org/W2209843567","https://openalex.org/W2560504659","https://openalex.org/W2603406422","https://openalex.org/W2790472381","https://openalex.org/W2925144242","https://openalex.org/W2963393582","https://openalex.org/W3002297177","https://openalex.org/W3034966130","https://openalex.org/W3035009346","https://openalex.org/W3037669777","https://openalex.org/W3092056736","https://openalex.org/W3094040002","https://openalex.org/W3097662863","https://openalex.org/W3109767144","https://openalex.org/W4210702215","https://openalex.org/W4211249640","https://openalex.org/W4220689297","https://openalex.org/W4225615381","https://openalex.org/W4226073364","https://openalex.org/W4229039643","https://openalex.org/W4236649993","https://openalex.org/W4283767585","https://openalex.org/W4285111930","https://openalex.org/W4285506248","https://openalex.org/W4311431031","https://openalex.org/W4312788366","https://openalex.org/W4312795250","https://openalex.org/W4312913393","https://openalex.org/W4323345609","https://openalex.org/W4360596099","https://openalex.org/W4379527418","https://openalex.org/W4384895303","https://openalex.org/W4388919353","https://openalex.org/W4391468145","https://openalex.org/W4391992336","https://openalex.org/W4392439208","https://openalex.org/W4393240966","https://openalex.org/W4394699127","https://openalex.org/W4395028215","https://openalex.org/W4396877911","https://openalex.org/W4400771099","https://openalex.org/W4401507446","https://openalex.org/W4401943651","https://openalex.org/W4402892042","https://openalex.org/W4407735903"],"related_works":["https://openalex.org/W2394201814","https://openalex.org/W2544838361","https://openalex.org/W2315418312","https://openalex.org/W2501264310","https://openalex.org/W2111927334","https://openalex.org/W2113447317","https://openalex.org/W4205434950","https://openalex.org/W4378174414","https://openalex.org/W4391766543","https://openalex.org/W2165082107"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"the":[3,7,22,25,44,66,97,103,120,124,129,134,143,153,178,181],"collision":[4,104],"avoidance":[5,105],"in":[6,21,62,106,133],"path-following":[8,38,113,184],"control":[9,39,87,114,185],"of":[10,24,69,123,180],"an":[11,48],"under-actuated":[12,45],"maritime":[13],"autonomous":[14],"surface":[15],"ship":[16],"(MASS)":[17],"under":[18],"cyber-physical":[19,135],"interactions":[20],"presence":[23],"International":[26],"Regulations":[27],"for":[28,43,90],"Preventing":[29],"Collisions":[30],"at":[31],"Sea":[32],"(COLREGS)":[33],"constraints.":[34],"A":[35],"COLREGS-constrained":[36,182],"parallel":[37,112,183],"architecture":[40],"is":[41,52,82,99,146,157],"presented":[42],"MASS.":[46],"Specifically,":[47],"artificial":[49,125,154],"MASS":[50,98,126,131,155],"system":[51,127,132,145,156],"developed":[53],"based":[54],"on":[55,72,138],"a":[56,77],"high-order":[57],"learning":[58],"extended":[59],"state":[60,80],"observer":[61],"cyber":[63],"space,":[64],"with":[65,108],"distinguishing":[67],"feature":[68],"not":[70],"relying":[71],"any":[73],"historical":[74],"data.":[75],"Next,":[76],"COLREGS-based":[78],"finite":[79],"machine":[81],"employed":[83],"to":[84,101,118,148,159,167,176],"establish":[85],"specific":[86],"barrier":[88],"functions":[89],"various":[91],"encounter":[92],"scenarios,":[93],"which":[94],"ensures":[95],"that":[96],"able":[100],"achieve":[102,119],"compliance":[107],"COLREGS.":[109],"Finally,":[110],"anti-disturbance":[111],"laws":[115],"are":[116,165,174],"proposed":[117],"synchronous":[121],"mapping":[122],"and":[128,140,152],"actual":[130],"space.":[136],"Based":[137],"stability":[139],"safety":[141],"analyses,":[142],"closed-loop":[144],"proven":[147],"be":[149,160,168],"input-to-state":[150],"stable,":[151],"shown":[158],"safe.":[161],"All":[162],"error":[163],"signals":[164],"demonstrated":[166],"uniformly":[169],"ultimately":[170],"bounded.":[171],"Simulation":[172],"results":[173],"provided":[175],"verify":[177],"efficacy":[179],"method.":[186]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}