{"id":"https://openalex.org/W3154450517","doi":"https://doi.org/10.1155/2021/6677445","title":"Adaptive Fixed\u2010Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties","display_name":"Adaptive Fixed\u2010Time Trajectory Tracking Control for Underactuated Hovercraft with Prescribed Performance in the Presence of Model Uncertainties","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3154450517","doi":"https://doi.org/10.1155/2021/6677445","mag":"3154450517"},"language":"en","primary_location":{"id":"doi:10.1155/2021/6677445","is_oa":true,"landing_page_url":"http://doi.org/10.1155/2021/6677445","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6677445.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/complexity/2021/6677445.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031139640","display_name":"Mingyu Fu","orcid":"https://orcid.org/0000-0001-7051-7628"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyu Fu","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100615714","display_name":"Tan Zhang","orcid":"https://orcid.org/0000-0002-6713-5036"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tan Zhang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013132057","display_name":"Fuguang Ding","orcid":"https://orcid.org/0000-0002-6439-6660"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuguang Ding","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052513533","display_name":"Duansong Wang","orcid":"https://orcid.org/0000-0001-9523-3517"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Duansong Wang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100615714"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":2300,"currency":"USD","value_usd":2300},"apc_paid":{"value":2300,"currency":"USD","value_usd":2300},"fwci":0.9705,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.74492467,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2021","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"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/T12158","display_name":"Guidance and Control Systems","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/underactuation","display_name":"Underactuation","score":0.8601142168045044},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7893198132514954},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7304699420928955},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7161365747451782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5083300471305847},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47628822922706604},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12086081504821777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08222329616546631}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8601142168045044},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7893198132514954},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7304699420928955},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7161365747451782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5083300471305847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47628822922706604},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12086081504821777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08222329616546631},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1155/2021/6677445","is_oa":true,"landing_page_url":"http://doi.org/10.1155/2021/6677445","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6677445.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:6677445","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/complexity/2021/6677445.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:28834ddca70d491ab1be1057dc5de01f","is_oa":true,"landing_page_url":"https://doaj.org/article/28834ddca70d491ab1be1057dc5de01f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2021 (2021)","raw_type":"article"},{"id":"pmh:oai:hindawi.com:10.1155/2021/6677445","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/6677445","pdf_url":null,"source":{"id":"https://openalex.org/S4306400340","display_name":"Hindawi Journal of Chemistry (Hindawi)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210126990","host_organization_name":"Hindawi (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210126990"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Research Article"}],"best_oa_location":{"id":"doi:10.1155/2021/6677445","is_oa":true,"landing_page_url":"http://doi.org/10.1155/2021/6677445","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6677445.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2035158673","display_name":null,"funder_award_id":"51309062","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8598925832","display_name":null,"funder_award_id":"52071112","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":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3154450517.pdf","grobid_xml":"https://content.openalex.org/works/W3154450517.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W796978335","https://openalex.org/W1917740947","https://openalex.org/W1988876996","https://openalex.org/W2015113370","https://openalex.org/W2017834848","https://openalex.org/W2019766549","https://openalex.org/W2021468640","https://openalex.org/W2062551655","https://openalex.org/W2064347827","https://openalex.org/W2081233670","https://openalex.org/W2106557935","https://openalex.org/W2167533089","https://openalex.org/W2172068018","https://openalex.org/W2253860128","https://openalex.org/W2285949792","https://openalex.org/W2335036212","https://openalex.org/W2343840829","https://openalex.org/W2345691546","https://openalex.org/W2346634033","https://openalex.org/W2490224708","https://openalex.org/W2527844608","https://openalex.org/W2588504744","https://openalex.org/W2760119996","https://openalex.org/W2761237338","https://openalex.org/W2792262551","https://openalex.org/W2793002977","https://openalex.org/W2794991191","https://openalex.org/W2804710000","https://openalex.org/W2809067760","https://openalex.org/W2828989159","https://openalex.org/W2891083589","https://openalex.org/W2891298882","https://openalex.org/W2895869031","https://openalex.org/W2899745345","https://openalex.org/W2903859661","https://openalex.org/W2911698761","https://openalex.org/W2953578398","https://openalex.org/W2958962467","https://openalex.org/W2976609342","https://openalex.org/W2979600649","https://openalex.org/W3103446998"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W2812482866","https://openalex.org/W2758944028","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"an":[3,10,66],"adaptive":[4,102],"fixed\u2010time":[5,72,150],"trajectory":[6],"tracking":[7,80,120,139],"controller":[8],"of":[9,20,43,55,141,163],"underactuated":[11],"hovercraft":[12],"with":[13],"a":[14,124,154],"prescribed":[15,86],"performance":[16],"in":[17],"the":[18,30,34,40,44,51,59,71,78,85,96,101,109,118,142,159,164],"presence":[19],"model":[21,131],"uncertainties":[22,132],"and":[23,70,89,100,133,149,161],"unknown":[24],"time\u2010varying":[25],"environment":[26],"disturbances.":[27],"It":[28],"is":[29,37],"first":[31],"time":[32],"that":[33,77,117],"proposed":[35,165],"method":[36,99],"applied":[38],"to":[39,75,115,123],"motion":[41],"control":[42,61,111],"hovercraft.":[45],"To":[46],"begin":[47],"with,":[48],"based":[49],"on":[50],"hovercraft\u2032s":[52],"four":[53],"degrees":[54],"freedom":[56],"(DOF)":[57],"model,":[58],"virtual":[60],"laws":[62,112],"are":[63,82,113,145],"designed":[64,114],"using":[65],"error":[67],"transforming":[68],"function":[69,105],"stability":[73],"theory":[74],"guarantee":[76],"position":[79],"errors":[81,121,140],"constrained":[83],"within":[84],"convergence":[87],"rates":[88],"minimum":[90],"overshoot.":[91],"In":[92],"addition,":[93],"by":[94],"combining":[95],"Lyapunov":[97],"direct":[98],"radial":[103],"basis":[104],"neural":[106],"network":[107],"(ARBFNN),":[108],"actual":[110],"ensure":[116],"velocity":[119],"converge":[122],"small":[125],"region":[126],"containing":[127],"zero":[128],"while":[129],"handling":[130],"external":[134],"disturbances":[135],"effectively.":[136],"Finally,":[137],"all":[138],"closed\u2010loop":[143],"system":[144],"uniformly":[146],"ultimately":[147],"bounded":[148],"convergent.":[151],"Results":[152],"from":[153],"comparative":[155],"simulation":[156],"study":[157],"verify":[158],"effectiveness":[160],"advantage":[162],"method.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
