{"id":"https://openalex.org/W7134058558","doi":"https://doi.org/10.48550/arxiv.2603.05115","title":"Trajectory Tracking for Uncrewed Surface Vessels with Input Saturation and Dynamic Motion Constraints","display_name":"Trajectory Tracking for Uncrewed Surface Vessels with Input Saturation and Dynamic Motion Constraints","publication_year":2026,"publication_date":"2026-03-05","ids":{"openalex":"https://openalex.org/W7134058558","doi":"https://doi.org/10.48550/arxiv.2603.05115"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.05115","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025624502","display_name":"Ram Milan Kumar Verma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Verma, Ram Milan Kumar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010457530","display_name":"Shashi Ranjan Kumar","orcid":"https://orcid.org/0000-0001-6446-7281"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumar, Shashi Ranjan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5080636789","display_name":"Hemendra Arya","orcid":"https://orcid.org/0000-0002-2354-4022"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Arya, Hemendra","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":0.22213511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"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":0.9025999903678894,"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":0.9025999903678894,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.022299999371170998,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.011300000362098217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8910999894142151},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6431999802589417},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6305000185966492},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5924000144004822},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5649999976158142},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5317000150680542},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5092999935150146},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4733000099658966},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4562999904155731}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8910999894142151},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6431999802589417},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6305000185966492},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5924000144004822},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5649999976158142},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5317000150680542},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5092999935150146},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4733000099658966},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4562999904155731},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4277999997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4255000054836273},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3953000009059906},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3790999948978424},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.34709998965263367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34610000252723694},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.33980000019073486},{"id":"https://openalex.org/C9930424","wikidata":"https://www.wikidata.org/wiki/Q7426587","display_name":"Saturation (graph theory)","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.3269999921321869},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3246000111103058},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.31040000915527344},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2858000099658966},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.28369998931884766},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.2799000144004822},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.27149999141693115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26409998536109924},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.257999986410141}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.05115","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.05115","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05115","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.05115","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"addresses":[2,55],"the":[3,10,21,25,80,108,127,138,141,149],"problem":[4],"of":[5,9,20,140],"constrained":[6],"motion":[7,49,150],"control":[8],"uncrewed":[11],"surface":[12,145],"vessels.":[13],"The":[14,51],"constraints":[15,57,64],"are":[16],"imposed":[17],"on":[18,58,65],"states/inputs":[19],"vehicles":[22],"due":[23],"to":[24,44,82,95],"physical":[26],"limitations,":[27],"mission":[28],"requirements,":[29],"and":[30,47,60,68,99,113,151],"safety":[31],"considerations.":[32],"We":[33],"develop":[34],"a":[35,72],"nonlinear":[36],"feedback":[37],"controller":[38],"utilizing":[39],"log-type":[40],"Barrier":[41],"Lyapunov":[42,103],"Functions":[43],"enforce":[45],"static":[46],"dynamic":[48],"constraints.":[50,153],"proposed":[52,142],"scheme":[53],"uniquely":[54],"asymmetric":[56],"position":[59],"heading":[61],"alongside":[62],"symmetric":[63],"surge,":[66],"sway,":[67],"yaw":[69],"rates.":[70],"Additionally,":[71],"smooth":[73],"input":[74],"saturation":[75],"model":[76],"is":[77],"incorporated":[78],"in":[79],"design":[81],"guarantee":[83],"stability":[84,104],"even":[85],"under":[86],"actuator":[87,152],"bounds,":[88],"which,":[89],"if":[90],"unaccounted":[91],"for,":[92],"can":[93],"lead":[94],"severe":[96],"performance":[97],"degradation":[98],"poor":[100],"tracking.":[101],"Rigorous":[102],"analysis":[105],"shows":[106],"that":[107,114],"closed-loop":[109],"system":[110],"remains":[111],"stable":[112],"all":[115,124],"state":[116],"variables":[117],"remain":[118],"within":[119,132],"their":[120],"prescribed":[121],"bounds":[122],"at":[123],"times,":[125],"provided":[126],"initial":[128],"conditions":[129],"also":[130],"lie":[131],"those":[133],"bounds.":[134],"Numerical":[135],"simulations":[136],"demonstrate":[137],"effectiveness":[139],"strategies":[143],"for":[144],"vessels":[146],"without":[147],"violating":[148]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-07T00:00:00"}