{"id":"https://openalex.org/W4285010998","doi":"https://doi.org/10.1155/2022/8962970","title":"Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation","display_name":"Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4285010998","doi":"https://doi.org/10.1155/2022/8962970"},"language":"en","primary_location":{"id":"doi:10.1155/2022/8962970","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/8962970","pdf_url":"https://downloads.hindawi.com/journals/jcse/2022/8962970.pdf","source":{"id":"https://openalex.org/S11704996","display_name":"Journal of Control Science and Engineering","issn_l":"1687-5249","issn":["1687-5249","1687-5257"],"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":"Journal of Control Science and Engineering","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/jcse/2022/8962970.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108351952","display_name":"Guoqing Xia","orcid":null},"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":"Guoqing Xia","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"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/A5085346996","display_name":"Xianxin Sun","orcid":"https://orcid.org/0000-0003-4225-2436"},"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":"Xianxin Sun","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0003-4225-2436","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":1,"corresponding_author_ids":["https://openalex.org/A5085346996"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":1450,"currency":"USD","value_usd":1450},"apc_paid":{"value":1450,"currency":"USD","value_usd":1450},"fwci":0.4913,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.57491547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2022","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/control-theory","display_name":"Control theory (sociology)","score":0.8352677822113037},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6628806591033936},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5702740550041199},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5108239650726318},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5090141296386719},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.48404496908187866},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4728781580924988},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.463279664516449},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45628201961517334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45174455642700195},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42739906907081604},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.41610509157180786},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2820378243923187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1715727150440216},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11829245090484619}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8352677822113037},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6628806591033936},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5702740550041199},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5108239650726318},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5090141296386719},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.48404496908187866},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4728781580924988},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.463279664516449},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45628201961517334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45174455642700195},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42739906907081604},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.41610509157180786},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2820378243923187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1715727150440216},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11829245090484619},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2022/8962970","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/8962970","pdf_url":"https://downloads.hindawi.com/journals/jcse/2022/8962970.pdf","source":{"id":"https://openalex.org/S11704996","display_name":"Journal of Control Science and Engineering","issn_l":"1687-5249","issn":["1687-5249","1687-5257"],"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":"Journal of Control Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:4f499105e4c84a50a02158604c44f2da","is_oa":true,"landing_page_url":"https://doaj.org/article/4f499105e4c84a50a02158604c44f2da","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Control Science and Engineering, Vol 2022 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2022/8962970","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/8962970","pdf_url":"https://downloads.hindawi.com/journals/jcse/2022/8962970.pdf","source":{"id":"https://openalex.org/S11704996","display_name":"Journal of Control Science and Engineering","issn_l":"1687-5249","issn":["1687-5249","1687-5257"],"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":"Journal of Control Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285010998.pdf","grobid_xml":"https://content.openalex.org/works/W4285010998.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1031644894","https://openalex.org/W1967398213","https://openalex.org/W1969839206","https://openalex.org/W1972566002","https://openalex.org/W1988837728","https://openalex.org/W1998461289","https://openalex.org/W2063451289","https://openalex.org/W2083974095","https://openalex.org/W2084163350","https://openalex.org/W2118890892","https://openalex.org/W2220369366","https://openalex.org/W2347085891","https://openalex.org/W2582982625","https://openalex.org/W2738770002","https://openalex.org/W2792882341","https://openalex.org/W2888086474","https://openalex.org/W2904341308","https://openalex.org/W2908731539","https://openalex.org/W2921374565","https://openalex.org/W2921419842","https://openalex.org/W2921935032","https://openalex.org/W2922150545","https://openalex.org/W2944533946","https://openalex.org/W2970963421","https://openalex.org/W3011559042","https://openalex.org/W3022730669","https://openalex.org/W3109767144","https://openalex.org/W3122824363","https://openalex.org/W3165081880","https://openalex.org/W3207553802","https://openalex.org/W4281264301"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2383266483","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"This":[0],"paper":[1,27],"addresses":[2],"the":[3,34,38,61,73,79,97,131,136,141,146],"swarm":[4,121],"tracking":[5],"problem":[6],"of":[7,25,123,130],"multiple":[8,124],"unmanned":[9,125],"surface":[10,126],"vehicles":[11],"subjected":[12],"to":[13,32,46,53,59,71,95,119],"unknown":[14],"time-varying":[15],"environmental":[16],"disturbance":[17,75,84,110],"and":[18,41,43,77,112],"input":[19,98],"saturation.":[20],"The":[21,128],"main":[22],"control":[23,122,148],"objective":[24],"this":[26],"is":[28,86,93,117,133,150],"that":[29,145],"USVs":[30],"cluster":[31],"follow":[33],"virtual":[35],"leader":[36],"with":[37],"desired":[39],"position":[40,50],"heading":[42],"are":[44],"required":[45],"maintain":[47],"a":[48,82,108],"specified":[49],"separation":[51],"relative":[52],"both":[54],"neighbor":[55],"vehicles.":[56,127],"In":[57],"order":[58],"achieve":[60,120],"design":[62],"goal,":[63],"we":[64],"mainly":[65],"focus":[66],"on":[67,107],"three":[68],"aspects.":[69],"Firstly,":[70],"estimate":[72],"external":[74],"accurately":[76],"improve":[78],"convergence":[80],"speed,":[81],"finite-time":[83,109],"observer":[85,111],"designed.":[87],"Secondly,":[88],"an":[89,102,113],"auxiliary":[90,114],"dynamic":[91,115],"system":[92,116,132],"introduced":[94],"solve":[96],"saturation":[99],"problem.":[100],"Thirdly,":[101],"output":[103],"feedback":[104],"controller":[105],"based":[106],"designed":[118],"stability":[129],"proved":[134],"by":[135],"Lyapunov":[137],"directly":[138],"method.":[139],"Finally,":[140],"simulation":[142],"results":[143],"show":[144],"proposed":[147],"strategy":[149],"effective.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}