{"id":"https://openalex.org/W2161365844","doi":"https://doi.org/10.1109/acc.2003.1243368","title":"Robust path following of underactuated ships using Serret-Frenet frame","display_name":"Robust path following of underactuated ships using Serret-Frenet frame","publication_year":2004,"publication_date":"2004-01-24","ids":{"openalex":"https://openalex.org/W2161365844","doi":"https://doi.org/10.1109/acc.2003.1243368","mag":"2161365844"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2003.1243368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2003.1243368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 American Control Conference, 2003.","raw_type":"proceedings-article"},"type":"conference-paper","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/A5031954514","display_name":"K.D. Do","orcid":"https://orcid.org/0000-0002-8167-7675"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"K.D. Do","raw_affiliation_strings":["Sch. of Mech. Eng., Western Australia Univ., Nedlands, WA, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sch. of Mech. Eng., Western Australia Univ., Nedlands, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101905201","display_name":"J. Pan","orcid":"https://orcid.org/0009-0008-0567-7957"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"J. Pan","raw_affiliation_strings":["Sch. of Mech. Eng., Western Australia Univ., Nedlands, WA, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sch. of Mech. Eng., Western Australia Univ., Nedlands, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177877127"],"apc_list":null,"apc_paid":null,"fwci":1.9546,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.85696373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"2000","last_page":"2005"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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":0.9975000023841858,"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/T10244","display_name":"Chaos control and synchronization","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8892998099327087},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8179012537002563},{"id":"https://openalex.org/keywords/frenet\u2013serret-formulas","display_name":"Frenet\u2013Serret formulas","score":0.6145710945129395},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5513356924057007},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5210767984390259},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.50778728723526},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.4787665903568268},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47340402007102966},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45331597328186035},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.43492579460144043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40538161993026733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3950851857662201},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37657904624938965},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2159060835838318},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1491575837135315},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1395704448223114}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8892998099327087},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8179012537002563},{"id":"https://openalex.org/C162546045","wikidata":"https://www.wikidata.org/wiki/Q947922","display_name":"Frenet\u2013Serret formulas","level":3,"score":0.6145710945129395},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5513356924057007},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5210767984390259},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.50778728723526},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.4787665903568268},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47340402007102966},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45331597328186035},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.43492579460144043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40538161993026733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3950851857662201},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37657904624938965},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2159060835838318},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1491575837135315},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1395704448223114},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2003.1243368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2003.1243368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2003 American Control Conference, 2003.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W618410092","https://openalex.org/W1551896781","https://openalex.org/W1559327333","https://openalex.org/W1590684588","https://openalex.org/W1598106025","https://openalex.org/W1650369171","https://openalex.org/W1977808185","https://openalex.org/W1986612694","https://openalex.org/W2008518509","https://openalex.org/W2090167557","https://openalex.org/W2098135394","https://openalex.org/W2101876384","https://openalex.org/W2102620728","https://openalex.org/W2123691417","https://openalex.org/W2127988032","https://openalex.org/W2154273141","https://openalex.org/W2159678986","https://openalex.org/W2163764169","https://openalex.org/W2563494494","https://openalex.org/W2620356889","https://openalex.org/W6636010724","https://openalex.org/W6647153062","https://openalex.org/W6738461181"],"related_works":["https://openalex.org/W2609788161","https://openalex.org/W2890994448","https://openalex.org/W4312766700","https://openalex.org/W1967787111","https://openalex.org/W2998181671","https://openalex.org/W1998010028","https://openalex.org/W2361423042","https://openalex.org/W1988421411","https://openalex.org/W2362923204","https://openalex.org/W4312095783"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,13,17],"controller":[4],"that":[5],"forces":[6],"an":[7],"underactuated":[8],"surface":[9],"ship":[10],"to":[11,61],"follow":[12],"predefined":[14],"path":[15],"at":[16],"constant":[18],"forward":[19],"speed":[20],"controlled":[21],"by":[22,34],"the":[23,28],"main":[24],"thruster":[25],"system":[26],"under":[27],"presence":[29],"of":[30],"environmental":[31],"disturbances":[32],"induced":[33],"wave,":[35],"wind":[36],"and":[37],"ocean-current.":[38],"The":[39],"proposed":[40],"controllers":[41],"are":[42],"designed":[43],"using":[44],"Lyapunov's":[45],"Direct":[46],"Method.":[47],"A":[48],"new":[49],"stability":[50],"result":[51],"for":[52],"nonlinear":[53],"cascade":[54],"systems":[55],"with":[56],"non-vanishing":[57],"uncertainties":[58],"is":[59],"introduced":[60],"analyze":[62],"closed-loop":[63],"stability.":[64]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}