{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T04:53:55Z","timestamp":1778043235803,"version":"3.51.4"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2017,6,30]],"date-time":"2017-06-30T00:00:00Z","timestamp":1498780800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Najafabad Branch, Islamic Azad University","award":["51504920613004"],"award-info":[{"award-number":["51504920613004"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput &amp; Applic"],"published-print":{"date-parts":[[2019,2]]},"DOI":"10.1007\/s00521-017-3085-6","type":"journal-article","created":{"date-parts":[[2017,6,30]],"date-time":"2017-06-30T07:41:17Z","timestamp":1498808477000},"page":"509-521","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":73,"title":["Three-dimensional neural network tracking control of a moving target by underactuated autonomous underwater vehicles"],"prefix":"10.1007","volume":"31","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1799-2141","authenticated-orcid":false,"given":"Khoshnam","family":"Shojaei","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,6,30]]},"reference":[{"key":"3085_CR1","doi-asserted-by":"publisher","first-page":"7","DOI":"10.1023\/A:1008984701078","volume":"8","author":"J Yuh","year":"2000","unstructured":"Yuh J (2000) Design and control of autonomous underwater robots: a survey. Auton Robots 8:7\u201324","journal-title":"Auton Robots"},{"key":"3085_CR2","doi-asserted-by":"crossref","unstructured":"Nakamura Y, Savant S (1992) Nonlinear tracking control of autonomous underwater vehicle. In: Proceedings of 1992 IEEE international conference on robotics and automation, Nice, France, pp A4\u2013A9","DOI":"10.1109\/ROBOT.1992.220005"},{"issue":"1","key":"3085_CR3","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1177\/027836499601500102","volume":"15","author":"O Egeland","year":"1996","unstructured":"Egeland O, Dalsmo M, Sordalen OJ (1996) Feedback control of a nonholonomic underwater vehicle with constant desired configuration. Int J Robot Res 15(1):24\u201335","journal-title":"Int J Robot Res"},{"issue":"3","key":"3085_CR4","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1109\/48.393076","volume":"20","author":"NE Leonard","year":"1995","unstructured":"Leonard NE (1995) Control synthesis and adaptation for an underactuated autonomous underwater vehicle. IEEE J Ocean Eng 20(3):211\u2013220","journal-title":"IEEE J Ocean Eng"},{"issue":"1","key":"3085_CR5","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1109\/9.739086","volume":"44","author":"KY Pettersen","year":"1999","unstructured":"Pettersen KY, Egeland O (1999) Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle. IEEE Trans Autom Control 44(1):112\u2013115","journal-title":"IEEE Trans Autom Control"},{"key":"3085_CR6","doi-asserted-by":"publisher","first-page":"463","DOI":"10.1007\/s10015-012-0082-9","volume":"17","author":"ZMd Zain","year":"2013","unstructured":"Zain ZMd, Watanabe K, Izumi K, Nagai I (2013) A discontinuous exponential stabilization law for an underactuated X4-AUV. J Artif Life Robot 17:463\u2013469","journal-title":"J Artif Life Robot"},{"key":"3085_CR7","doi-asserted-by":"publisher","first-page":"82","DOI":"10.1016\/j.oceaneng.2008.07.010","volume":"36","author":"CA Woolsey","year":"2009","unstructured":"Woolsey CA, Techy L (2009) Cross-track control of a slender, underactuated AUV using potential shaping. Ocean Eng 36:82\u201391","journal-title":"Ocean Eng"},{"issue":"3","key":"3085_CR8","doi-asserted-by":"publisher","first-page":"701","DOI":"10.1109\/TRO.2009.2014496","volume":"25","author":"P Batista","year":"2009","unstructured":"Batista P, Silvestre C, Oliviera P (2009) A sensor-based controller for homing of underactuated AUVs. IEEE Trans Robot 25(3):701\u2013716","journal-title":"IEEE Trans Robot"},{"issue":"2","key":"3085_CR9","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1109\/JOE.2008.923554","volume":"33","author":"L Lapierre","year":"2008","unstructured":"Lapierre L, Jouvencel B (2008) Robust nonlinear path-following control of an AUV. IEEE J Ocean Eng 33(2):89\u2013102","journal-title":"IEEE J Ocean Eng"},{"issue":"16","key":"3085_CR10","doi-asserted-by":"publisher","first-page":"1967","DOI":"10.1016\/j.oceaneng.2004.04.006","volume":"31","author":"KD Do","year":"2006","unstructured":"Do KD, Pan J, Jiang ZP (2006) Robust and adaptive path following for underactuated autonomous underwater vehicles. Ocean Eng 31(16):1967\u20131997","journal-title":"Ocean Eng"},{"issue":"7","key":"3085_CR11","doi-asserted-by":"publisher","first-page":"1092","DOI":"10.1080\/00207170701268882","volume":"80","author":"AP Aguiar","year":"2007","unstructured":"Aguiar AP, Pascoal AM (2007) Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents. Int J Control 80(7):1092\u20131108","journal-title":"Int J Control"},{"key":"3085_CR12","doi-asserted-by":"publisher","first-page":"1650","DOI":"10.1016\/j.oceaneng.2006.11.007","volume":"34","author":"F Repoulias","year":"2007","unstructured":"Repoulias F, Papadopoulos E (2007) Planar trajectory planning and tracking control design for underactuated AUVs. Ocean Eng 34:1650\u20131667","journal-title":"Ocean Eng"},{"issue":"11","key":"3085_CR13","doi-asserted-by":"publisher","first-page":"2369","DOI":"10.1049\/iet-cta.2009.0265","volume":"4","author":"FY Bi","year":"2009","unstructured":"Bi FY, Wei YJ, Zhang JZ, Cao W (2009) Position-tracking control of underactuated autonomous underwater vehicles in the presence of unknown ocean currents. IET Control Theory Appl 4(11):2369\u20132380","journal-title":"IET Control Theory Appl"},{"key":"3085_CR14","doi-asserted-by":"publisher","first-page":"84","DOI":"10.1016\/j.oceaneng.2014.08.019","volume":"91","author":"X Qi","year":"2014","unstructured":"Qi X (2014) Adaptive coordinated tracking control of multiple autonomous underwater vehicles. Ocean Eng 91:84\u201390","journal-title":"Ocean Eng"},{"issue":"17","key":"3085_CR15","doi-asserted-by":"publisher","first-page":"1491","DOI":"10.1016\/j.oceaneng.2010.07.006","volume":"37","author":"R Cui","year":"2010","unstructured":"Cui R, Ge SS, Voon Ee How B, Sang Choo Y (2010) Leader-follower formation control of underactuated autonomous underwater vehicles. Ocean Eng 37(17):1491\u20131502","journal-title":"Ocean Eng"},{"issue":"5","key":"3085_CR16","doi-asserted-by":"publisher","first-page":"930","DOI":"10.1109\/TCST.2007.916347","volume":"16","author":"JE Refsnes","year":"2008","unstructured":"Refsnes JE, Sorensen AJ, Pettersen KY (2008) Model-based output feedback control of slender-body underactuated AUVs: theory and experiments. IEEE Trans Control Syst Technol 16(5):930\u2013946","journal-title":"IEEE Trans Control Syst Technol"},{"key":"3085_CR17","doi-asserted-by":"publisher","first-page":"72","DOI":"10.1016\/j.oceaneng.2013.01.029","volume":"63","author":"B Subudhi","year":"2013","unstructured":"Subudhi B, Mukherjee K, Ghosh S (2013) A static output feedback control design for path following of autonomous underwater vehicle in vertical plane. Ocean Eng 63:72\u201376","journal-title":"Ocean Eng"},{"key":"3085_CR18","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1016\/j.robot.2014.09.024","volume":"67","author":"X Xiang","year":"2015","unstructured":"Xiang X, Lapierre L, Jouvencel B (2015) Smooth transition of AUV motion control: from fully-actuated to under-actuated configuration. Robot Auton Syst 67:14\u201322","journal-title":"Robot Auton Syst"},{"key":"3085_CR19","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1016\/j.oceaneng.2015.06.022","volume":"105","author":"J Xu","year":"2015","unstructured":"Xu J, Wang M, Qiao L (2015) Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles. Ocean Eng 105:54\u201363","journal-title":"Ocean Eng"},{"key":"3085_CR20","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1016\/j.robot.2014.09.012","volume":"67","author":"T Glotzbach","year":"2015","unstructured":"Glotzbach T, Schneider M, Otto P (2015) Cooperative line of sight target tracking for heterogeneous unmanned marine vehicle teams: from theory to practice. Robot Auton Syst 67:53\u201360","journal-title":"Robot Auton Syst"},{"key":"3085_CR21","doi-asserted-by":"publisher","first-page":"132","DOI":"10.1016\/j.oceaneng.2015.07.039","volume":"107","author":"Z Yan","year":"2015","unstructured":"Yan Z, Yu H, Zhang W, Li B, Zhou J (2015) Globally finite-time stable tracking control of underactuated UUVs. Ocean Eng 107:132\u2013146","journal-title":"Ocean Eng"},{"key":"3085_CR22","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.oceaneng.2014.12.016","volume":"96","author":"BS Park","year":"2015","unstructured":"Park BS (2015) Adaptive formation control of underactuated autonomous underwater vehicles. Ocean Eng 96:1\u20137","journal-title":"Ocean Eng"},{"key":"3085_CR23","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1016\/j.oceaneng.2016.05.034","volume":"121","author":"Y Chen","year":"2016","unstructured":"Chen Y, Zhang R, Zhao X, Gao J (2016) Adaptive fuzzy inverse trajectory tracking control of underactuated underwater vehicle with uncertainties. Ocean Eng 121:123\u2013133","journal-title":"Ocean Eng"},{"key":"3085_CR24","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1016\/j.oceaneng.2015.10.052","volume":"111","author":"ZH Ismail","year":"2016","unstructured":"Ismail ZH, Mokhar MBM, Putranti VWE, Dunnigan MW (2016) A robust dynamic region-based control scheme for an autonomous underwater vehicle. Ocean Eng 111:155\u2013165","journal-title":"Ocean Eng"},{"key":"3085_CR25","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1016\/j.oceaneng.2015.09.035","volume":"110","author":"Y Wang","year":"2015","unstructured":"Wang Y, Zhang M, Wilson PA, Liu X (2015) Adaptive neural network-based backstepping fault tolerant control for underwater vehicles with thruster fault. Ocean Eng 110:15\u201324","journal-title":"Ocean Eng"},{"key":"3085_CR26","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1016\/j.oceaneng.2015.02.006","volume":"99","author":"K Mukherjee","year":"2015","unstructured":"Mukherjee K, Kar IN, Bhatt RKP (2015) Region tracking based control of an autonomous underwater vehicle with input delay. Ocean Eng 99:107\u2013114","journal-title":"Ocean Eng"},{"key":"3085_CR27","doi-asserted-by":"publisher","first-page":"604","DOI":"10.1016\/j.neucom.2015.04.028","volume":"167","author":"J Gao","year":"2015","unstructured":"Gao J, Proctor A, Bradley C (2015) Adaptive neural network visual servo control for dynamic positioning of underwater vehicles. Neurocomputing 167:604\u2013613","journal-title":"Neurocomputing"},{"key":"3085_CR28","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.neucom.2016.02.042","volume":"196","author":"Y-C Liu","year":"2016","unstructured":"Liu Y-C, Liu S-Y, Wang N (2016) Fully-tuned fuzzy neural network based robust adaptive tracking control of unmanned underwater vehicle with thruster dynamics. Neurocomputing 196:1\u201313","journal-title":"Neurocomputing"},{"key":"3085_CR29","doi-asserted-by":"publisher","first-page":"270","DOI":"10.1016\/j.oceaneng.2015.06.034","volume":"105","author":"Y Li","year":"2015","unstructured":"Li Y, Wei C, Wu Q, Chen P, Jiang Y, Li Y (2015) Study of 3 dimension trajectory tracking of underactuated autonomous underwater vehicle. Ocean Eng 105:270\u2013274","journal-title":"Ocean Eng"},{"issue":"8","key":"3085_CR30","doi-asserted-by":"publisher","first-page":"1264","DOI":"10.1049\/iet-cta.2014.0472","volume":"9","author":"K Shojaei","year":"2015","unstructured":"Shojaei K, Arefi MM (2015) On the neuro-adaptive feedback linearising control of underactuated autonomous underwater vehicles in three-dimensional space. IET Control Theory Appl 9(8):1264\u20131273","journal-title":"IET Control Theory Appl"},{"issue":"8","key":"3085_CR31","doi-asserted-by":"publisher","first-page":"853","DOI":"10.1016\/j.robot.2013.04.002","volume":"61","author":"KD Do","year":"2013","unstructured":"Do KD (2013) Coordination control of underactuated ODINs in three-dimensional space. Robot Auton Syst 61(8):853\u2013867","journal-title":"Robot Auton Syst"},{"key":"3085_CR32","doi-asserted-by":"publisher","first-page":"372","DOI":"10.1016\/j.neucom.2016.02.041","volume":"194","author":"K Shojaei","year":"2016","unstructured":"Shojaei K (2016) Neural network formation control of underactuated autonomous underwater vehicles with saturating actuators. Neurocomputing 194:372\u2013384","journal-title":"Neurocomputing"},{"key":"3085_CR33","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84882-730-1","volume-title":"Control of ships and underwater vehicles: design for underactuated and nonlinear marine systems","author":"KD Do","year":"2009","unstructured":"Do KD, Pan J (2009) Control of ships and underwater vehicles: design for underactuated and nonlinear marine systems. Springer, London"},{"key":"3085_CR34","volume-title":"Marine control systems","author":"TI Fossen","year":"2002","unstructured":"Fossen TI (2002) Marine control systems. Marine Cybernetics, Trondheim"},{"issue":"2","key":"3085_CR35","doi-asserted-by":"publisher","first-page":"513","DOI":"10.1109\/TCST.2011.2181513","volume":"21","author":"Z Peng","year":"2013","unstructured":"Peng Z, Wang D, Chen Z, Hu X, Lan W (2013) Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics. IEEE Trans Control Syst Technol 21(2):513\u2013520","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"12","key":"3085_CR36","doi-asserted-by":"publisher","first-page":"3201","DOI":"10.1016\/j.automatica.2008.08.003","volume":"44","author":"JH Li","year":"2008","unstructured":"Li JH, Lee PM, Jun BH, Lim YK (2008) Point-to-point navigation of underactuated ships. Automatica 44(12):3201\u20133205","journal-title":"Automatica"},{"key":"3085_CR37","volume-title":"Robot manipulator control theory and practice","author":"FL Lewis","year":"2004","unstructured":"Lewis FL, Dawson DM, Abdallah CT (2004) Robot manipulator control theory and practice, 2nd edn. Marcel Dekker Inc., New York","edition":"2"},{"key":"3085_CR38","doi-asserted-by":"publisher","first-page":"447","DOI":"10.1109\/9.486648","volume":"41","author":"MM Polycarpou","year":"1996","unstructured":"Polycarpou MM (1996) Stable adaptive neural control scheme for nonlinear systems. IEEE Trans Autom Control 41:447\u2013451","journal-title":"IEEE Trans Autom Control"},{"issue":"7","key":"3085_CR39","doi-asserted-by":"publisher","first-page":"1525","DOI":"10.1007\/s00521-015-1821-3","volume":"26","author":"C Liu","year":"2015","unstructured":"Liu C, Zou Z-J, Li T-S (2015) Path following of underactuated surface vessels with fin roll reduction based on neural network and hierarchical sliding mode technique. Neural Comput Appl 26(7):1525\u20131535","journal-title":"Neural Comput Appl"},{"issue":"8","key":"3085_CR40","doi-asserted-by":"publisher","first-page":"1839","DOI":"10.1007\/s00521-015-1848-5","volume":"26","author":"Z Cao","year":"2015","unstructured":"Cao Z, Cheng L, Zhou C, Gu N, Wang X, Tan M (2015) Spiking neural network-based target tracking control for autonomous mobile robots. Neural Comput Appl 26(8):1839\u20131847","journal-title":"Neural Comput Appl"},{"issue":"8","key":"3085_CR41","doi-asserted-by":"publisher","first-page":"1929","DOI":"10.1007\/s00521-015-1839-6","volume":"26","author":"C Pan","year":"2015","unstructured":"Pan C, Lai X, Yang SX, Wu M (2015) A bioinspired neural dynamics-based approach to tracking control of autonomous surface vehicles subject to unknown ocean currents. Neural Comput Appl 26(8):1929\u20131938","journal-title":"Neural Comput Appl"},{"issue":"7","key":"3085_CR42","doi-asserted-by":"publisher","first-page":"1771","DOI":"10.1007\/s00521-014-1668-z","volume":"25","author":"Z Peng","year":"2014","unstructured":"Peng Z, Wang D, Wang H, Wang W (2014) Coordinated formation pattern control of multiple marine surface vehicles with model uncertainty and time-varying ocean currents. Neural Comput Appl 25(7):1771\u20131783","journal-title":"Neural Comput Appl"},{"key":"3085_CR43","doi-asserted-by":"publisher","first-page":"196","DOI":"10.1016\/j.oceaneng.2015.06.026","volume":"105","author":"K Shojaei","year":"2015","unstructured":"Shojaei K (2015) Leader-follower formation control of underactuated autonomous marine surface vehicles with limited torque. Ocean Eng 105:196\u2013205","journal-title":"Ocean Eng"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-017-3085-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00521-017-3085-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-017-3085-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,3,2]],"date-time":"2019-03-02T01:08:03Z","timestamp":1551488883000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00521-017-3085-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,6,30]]},"references-count":43,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,2]]}},"alternative-id":["3085"],"URL":"https:\/\/doi.org\/10.1007\/s00521-017-3085-6","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,6,30]]},"assertion":[{"value":"18 June 2016","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 June 2017","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 June 2017","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The author declares that there is no conflict of interest for this paper.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}