{"id":"https://openalex.org/W4391748422","doi":"https://doi.org/10.1177/01423312241227539","title":"Iterative learning\u2013based model-free adaptive precise heading following of an autonomous underwater vehicle with unknown disturbances","display_name":"Iterative learning\u2013based model-free adaptive precise heading following of an autonomous underwater vehicle with unknown disturbances","publication_year":2024,"publication_date":"2024-02-12","ids":{"openalex":"https://openalex.org/W4391748422","doi":"https://doi.org/10.1177/01423312241227539"},"language":"en","primary_location":{"id":"doi:10.1177/01423312241227539","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241227539","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5073700870","display_name":"Donglei Dong","orcid":"https://orcid.org/0000-0002-3321-326X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donglei Dong","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049316498","display_name":"Xianbo Xiang","orcid":"https://orcid.org/0000-0002-6215-9864"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xianbo Xiang","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, China","The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050236616","display_name":"Jinjiang Li","orcid":"https://orcid.org/0000-0001-5057-3972"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jinjiang Li","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061757367","display_name":"Shaolong Yang","orcid":"https://orcid.org/0000-0003-2566-9803"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaolong Yang","raw_affiliation_strings":["School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049316498"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":1.6422,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82306982,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"47","issue":"8","first_page":"1503","last_page":"1512"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11749","display_name":"Iterative Learning Control Systems","score":0.9926999807357788,"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":0.9883000254631042,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.8663561940193176},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.777519166469574},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7081910967826843},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5572108030319214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5397480726242065},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4714302122592926},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4568745195865631},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4244453012943268},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.423614501953125},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.41998013854026794},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30554109811782837},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2533113658428192},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25130268931388855},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23743346333503723},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2254405915737152}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8663561940193176},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.777519166469574},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7081910967826843},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5572108030319214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5397480726242065},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4714302122592926},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4568745195865631},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4244453012943268},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.423614501953125},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.41998013854026794},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30554109811782837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2533113658428192},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25130268931388855},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23743346333503723},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2254405915737152},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/01423312241227539","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241227539","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G8647461787","display_name":null,"funder_award_id":"52071153","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1544853044","https://openalex.org/W1963696504","https://openalex.org/W2004699259","https://openalex.org/W2084113595","https://openalex.org/W2214731807","https://openalex.org/W2492811885","https://openalex.org/W2497535426","https://openalex.org/W2505012551","https://openalex.org/W2612848726","https://openalex.org/W2892244731","https://openalex.org/W2901059451","https://openalex.org/W2924174461","https://openalex.org/W2937359304","https://openalex.org/W3100789280","https://openalex.org/W3170716042","https://openalex.org/W3209969206","https://openalex.org/W4214931338","https://openalex.org/W4230949710","https://openalex.org/W4240841252","https://openalex.org/W4249560056","https://openalex.org/W4296242307","https://openalex.org/W4298303828","https://openalex.org/W4311270805","https://openalex.org/W4312740595","https://openalex.org/W4322620441","https://openalex.org/W4361801053","https://openalex.org/W4383226851","https://openalex.org/W4386031067"],"related_works":["https://openalex.org/W2379960361","https://openalex.org/W2133373519","https://openalex.org/W2478562663","https://openalex.org/W2104608934","https://openalex.org/W1498036222","https://openalex.org/W2465904370","https://openalex.org/W2107729799","https://openalex.org/W4210894462","https://openalex.org/W1972930307","https://openalex.org/W2365680665"],"abstract_inverted_index":{"Due":[0],"to":[1,17,121,158,176],"the":[2,33,53,87,94,113,123,127,135,155,162,174,178,181,186,199,207],"nonlinearity,":[3],"strong":[4],"coupling,":[5],"and":[6,77,89,97,118,149,166,203],"uncertain":[7],"parameters":[8],"of":[9,27,37,67,93,129,134,147,161,183],"autonomous":[10],"underwater":[11],"vehicle":[12],"(AUV),":[13],"it":[14],"is":[15,83,98,152,171,189],"difficult":[16],"build":[18],"an":[19,42,167],"accurate":[20],"dynamic":[21],"model,":[22],"which":[23],"makes":[24],"precise":[25,34],"control":[26,49,64,70,101,142],"AUV":[28,55,208],"extremely":[29],"challenging.":[30],"To":[31],"handle":[32],"heading-following":[35],"problem":[36,128],"AUV,":[38],"this":[39],"paper":[40],"proposes":[41],"iterative":[43,74,115,140,168],"learning-based":[44],"redefine":[45],"model-free":[46],"adaptive":[47],"heading":[48,209],"(IL-RMFAC)":[50],"method":[51,170],"for":[52,206],"underactuated":[54],"with":[56],"unknown":[57],"disturbances":[58],"based":[59],"on":[60],"data":[61,92],"driven.":[62],"The":[63,103],"scheme":[65],"consists":[66],"a":[68,72,78,99],"learning":[69,124,138,141,169],"algorithm,":[71,76],"parameter":[73,79,114],"update":[75,116],"reset":[80,119],"algorithm.":[81],"It":[82],"designed":[84],"using":[85],"only":[86],"input":[88],"output":[90],"(I/O)":[91],"controlled":[95],"system":[96],"data-driven":[100],"method.":[102],"pseudo":[104],"partial":[105],"derivative":[106],"(PPD)":[107],"can":[108],"be":[109],"iteratively":[110],"calculated":[111],"through":[112],"algorithm":[117,120],"adjust":[122],"gain,":[125],"solving":[126],"strictly":[130],"limited":[131],"initial":[132],"position":[133],"traditional":[136,195],"fixed":[137],"gain":[139],"(ILC).":[143],"A":[144],"linear":[145],"combination":[146],"angle":[148],"angular":[150],"velocity":[151],"introduced":[153,172],"in":[154,173],"kinematic":[156],"layer":[157],"avoid":[159],"overshooting":[160],"expected":[163],"following":[164],"target,":[165],"dynamics":[175],"improve":[177],"accuracy.":[179],"As":[180],"number":[182],"iterations":[184],"increases,":[185],"steady-state":[187],"error":[188],"gradually":[190],"decreased.":[191],"Finally,":[192],"by":[193],"comparing":[194],"proportional\u2013integral\u2013derivative":[196],"(PID)":[197],"simulations,":[198],"proposed":[200],"algorithm\u2019s":[201],"effectiveness":[202],"outstanding":[204],"performance":[205],"tracking":[210],"are":[211],"confirmed.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}