{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T03:32:54Z","timestamp":1774927974040,"version":"3.50.1"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"19","license":[{"start":{"date-parts":[[2021,5,27]],"date-time":"2021-05-27T00:00:00Z","timestamp":1622073600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,5,27]],"date-time":"2021-05-27T00:00:00Z","timestamp":1622073600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51609033"],"award-info":[{"award-number":["51609033"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005047","name":"Natural Science Foundation of Liaoning Province","doi-asserted-by":"crossref","award":["20180520005"],"award-info":[{"award-number":["20180520005"]}],"id":[{"id":"10.13039\/501100005047","id-type":"DOI","asserted-by":"crossref"}]},{"name":"the Key Development Guidance Program of Liaoning Province of China","award":["2019JH8\/10100100"],"award-info":[{"award-number":["2019JH8\/10100100"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["3132019005, 3132019311"],"award-info":[{"award-number":["3132019005, 3132019311"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput &amp; Applic"],"published-print":{"date-parts":[[2021,10]]},"DOI":"10.1007\/s00521-021-05922-x","type":"journal-article","created":{"date-parts":[[2021,5,27]],"date-time":"2021-05-27T02:02:40Z","timestamp":1622080960000},"page":"12777-12789","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["Trajectory tracking control for underactuated unmanned surface vehicle subject to uncertain dynamics and input saturation"],"prefix":"10.1007","volume":"33","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1955-2596","authenticated-orcid":false,"given":"Dongdong","family":"Mu","sequence":"first","affiliation":[]},{"given":"Guofeng","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Yunsheng","family":"Fan","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,5,27]]},"reference":[{"key":"5922_CR1","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1016\/j.oceaneng.2018.04.018","volume":"159","author":"H Mousazadeh","year":"2018","unstructured":"Mousazadeh H, Jafarbiglu H, Abdolmaleki H, Omrani E, Monhaseri F, Abdollahazdeh M, Mohammadi-Aghdam A, Kiapei A, Salmani-Zakaria Y, Makhsoos A (2018) Developing a navigation, guidance and obstacle avoidance algorithm for an unmanned surface vehicle (USV) by algorithms fusion. Ocean Eng 159:56\u201365","journal-title":"Ocean Eng"},{"issue":"6","key":"5922_CR2","first-page":"1271","volume":"29","author":"X Chen","year":"2019","unstructured":"Chen X, Liu Z, Zhang J, Zhou D, Dong J (2019) Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents. J Syst Eng Electron 29(6):1271\u20131283","journal-title":"J Syst Eng Electron"},{"issue":"8","key":"5922_CR3","first-page":"624","volume":"26","author":"H Kim","year":"2020","unstructured":"Kim H, Yun S, Choi Y, Ryu J, Suh J (2020) Improved dynamic window approach with ellipse equations for autonomous navigation of unmanned surface vehicle. J Inst Control 26(8):624\u2013629","journal-title":"J Inst Control"},{"issue":"20","key":"5922_CR4","doi-asserted-by":"publisher","first-page":"7778","DOI":"10.36478\/jeasci.2019.7778.7787","volume":"14","author":"T Asfihani","year":"2019","unstructured":"Asfihani T, Subchan S, Rosyid DM (2019) Dubins path tracking controller of USV using model predictive control in sea field. J Eng Appl Sci 14(20):7778\u20137787","journal-title":"J Eng Appl Sci"},{"issue":"2","key":"5922_CR5","doi-asserted-by":"publisher","first-page":"447","DOI":"10.1007\/s00521-016-2643-7","volume":"30","author":"K Xia","year":"2018","unstructured":"Xia K, Gao H, Ding L, Liu G, Deng Z, Liu Z, Ma C (2018) Trajectory tracking control of wheeled mobile manipulator based on fuzzy neural network and extended Kalman filtering. Neural Comput Appl 30(2):447\u2013462","journal-title":"Neural Comput Appl"},{"issue":"2","key":"5922_CR6","doi-asserted-by":"publisher","first-page":"1079","DOI":"10.1007\/s11071-015-2551-x","volume":"84","author":"T Elmokadem","year":"2016","unstructured":"Elmokadem T, Zribi M, Youcef K (2016) Trajectory tracking sliding mode control of underactuated AUVs. Nonlinear Dyn 84(2):1079\u20131091","journal-title":"Nonlinear Dyn"},{"issue":"7","key":"5922_CR7","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, Li T (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":"3","key":"5922_CR8","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s20030832","volume":"20","author":"A Stateczny","year":"2020","unstructured":"Stateczny A, Burdziakowski P, Najdecka K, Stateczna BD (2020) Accuracy of trajectory tracking based on nonlinear guidance logic for hydrographic unmanned surface vessels. Sensors 20(3):1\u201316","journal-title":"Sensors"},{"issue":"12","key":"5922_CR9","doi-asserted-by":"publisher","first-page":"121008","DOI":"10.1115\/1.4044272","volume":"141","author":"J Ghommam","year":"2019","unstructured":"Ghommam J, Iftekhar L, Saad M (2019) Adaptive finite time path-following control of underactuated surface vehicle with collision avoidance. J Dyn Syst Meas Control 141(12):121008","journal-title":"J Dyn Syst Meas Control"},{"issue":"8","key":"5922_CR10","doi-asserted-by":"publisher","first-page":"669","DOI":"10.1002\/rob.20303","volume":"26","author":"M Bibuli","year":"2009","unstructured":"Bibuli M, Bruzzone G, Caccia M, Lapierre L (2009) Path following algorithms and experiments for an unmanned surface vehicle. J Field Robot 26(8):669\u2013688","journal-title":"J Field Robot"},{"key":"5922_CR11","doi-asserted-by":"crossref","unstructured":"Godhavn J (1996) Nonlinear tracking of underactuated surface vessels. In: Proceeding IEEE Conference on Decision & Control Kobe, 975-980","DOI":"10.1109\/CDC.1996.574608"},{"issue":"1","key":"5922_CR12","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1049\/iet-cta.2008.0131","volume":"4","author":"J Ghommam","year":"2010","unstructured":"Ghommam J, Mnif F, Derbel N (2010) Global stabilisation and tracking control of underactuated surface vessels. IET Control Theory Appl 4(1):71\u201388","journal-title":"IET Control Theory Appl"},{"issue":"4","key":"5922_CR13","doi-asserted-by":"publisher","first-page":"1511","DOI":"10.1109\/TCST.2013.2281936","volume":"22","author":"Y Yang","year":"2014","unstructured":"Yang Y, Du J, Liu H, Guo C, Abraham A (2014) A trajectory tracking robust controller of surface vessels With disturbance uncertainties. IEEE Trans Control Syst Technol 22(4):1511\u20131518","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"15","key":"5922_CR14","doi-asserted-by":"publisher","first-page":"7947","DOI":"10.1016\/j.jfranklin.2019.04.017","volume":"356","author":"B Park","year":"2019","unstructured":"Park B, Yoo S (2019) Adaptive-observer-based formation tracking of networked uncertain underactuated surface vessels with connectivity preservation and collision avoidance. J Frankl Inst 356(15):7947\u20137966","journal-title":"J Frankl Inst"},{"key":"5922_CR15","doi-asserted-by":"crossref","unstructured":"Haseltalab A, Negenborn RR (2019) Adaptive control for autonomous ships with uncertain model and unknown propeller dynamics. Control Eng Pract 91(10):104116.1-104116.12","DOI":"10.1016\/j.conengprac.2019.104116"},{"key":"5922_CR16","doi-asserted-by":"publisher","first-page":"102","DOI":"10.1016\/j.isatra.2019.07.028","volume":"97","author":"SMM Abbasi","year":"2020","unstructured":"Abbasi SMM, Jalali A (2020) Fuzzy tracking control of fuzzy linear dynamical systems. ISA Trans 97:102\u2013115","journal-title":"ISA Trans"},{"issue":"11","key":"5922_CR17","doi-asserted-by":"publisher","first-page":"6945","DOI":"10.1007\/s00521-018-3520-3","volume":"31","author":"VT Yen","year":"2019","unstructured":"Yen VT, Nan WY, Cuong PV (2019) Recurrent fuzzy wavelet neural networks based on robust adaptive sliding mode control for industrial robot manipulators. Neural Comput Appl 31(11):6945\u20136958","journal-title":"Neural Comput Appl"},{"issue":"12","key":"5922_CR18","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"},{"issue":"5","key":"5922_CR19","doi-asserted-by":"publisher","first-page":"356","DOI":"10.1049\/iet-its.2019.0221","volume":"14","author":"H Qin","year":"2020","unstructured":"Qin H, Li C, Sun Y (2020) Adaptive neural network-based fault-tolerant trajectory-tracking control of unmanned surface vessels with input saturation and error constraints. IET Intell Transp Syst 14(5):356\u2013363","journal-title":"IET Intell Transp Syst"},{"key":"5922_CR20","doi-asserted-by":"publisher","first-page":"558","DOI":"10.1016\/j.oceaneng.2015.05.013","volume":"104","author":"G Zhang","year":"2015","unstructured":"Zhang G, Zhang X, Zheng Y (2015) Adaptive neural path-following control for underactuated ships in fields of marine practice. Ocean Eng 104:558\u2013567","journal-title":"Ocean Eng"},{"key":"5922_CR21","first-page":"888","volume-title":"Robust adaptive neural network control for strict-feedback nonlinear systems via small-gain approaches, International Symposium on Neural Networks","author":"Y Yang","year":"2006","unstructured":"Yang Y, Li T, Wang X (2006) Robust adaptive neural network control for strict-feedback nonlinear systems via small-gain approaches, International Symposium on Neural Networks. Springer, Berlin, Heidelberg, pp 888\u2013897"},{"issue":"6","key":"5922_CR22","first-page":"2365","volume":"12","author":"D Mu","year":"2017","unstructured":"Mu D, Wang G, Fan Y (2017) Design of adaptive neural tracking controller for Pod propulsion unmanned vessel subject to unknown dynamics. J Electr Eng Technol 12(6):2365\u20132377","journal-title":"J Electr Eng Technol"},{"issue":"4","key":"5922_CR23","doi-asserted-by":"publisher","first-page":"841","DOI":"10.1109\/TFUZZ.2015.2486811","volume":"24","author":"Y Li","year":"2016","unstructured":"Li Y, Tong S, Li T (2016) Hybrid fuzzy adaptive output feedback control design for uncertain MIMO nonlinear systems with time-varying delays and input saturation. IEEE Trans Fuzzy Syst 24(4):841\u2013853","journal-title":"IEEE Trans Fuzzy Syst"},{"issue":"1","key":"5922_CR24","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TSMC.2016.2557222","volume":"47","author":"Q Zhou","year":"2017","unstructured":"Zhou Q, Wang L, Wu C, Li H, Du H (2017) Adaptive fuzzy control for nonstrict-feedback systems with input saturation and output constraint. IEEE Trans Syst Man Cybern Syst 47(1):1\u201312","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"issue":"6","key":"5922_CR25","doi-asserted-by":"publisher","first-page":"1357","DOI":"10.1109\/TCST.2010.2090526","volume":"19","author":"D Chwa","year":"2011","unstructured":"Chwa D (2011) Global tracking control of underactuated ships with input and velocity constraints using dynamic surface control method. IEEE Trans Control Syst Technol 19(6):1357\u20131370","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"6","key":"5922_CR26","doi-asserted-by":"publisher","first-page":"2287","DOI":"10.1109\/TCST.2014.2306774","volume":"22","author":"AM Lekkas","year":"2014","unstructured":"Lekkas AM, Fossen TI (2014) Integral LOS path following for curved paths based on a monotone cubic hermite spline parametrization. IEEE Trans Control Syst Technol 22(6):2287\u20132301","journal-title":"IEEE Trans Control Syst Technol"},{"issue":"4","key":"5922_CR27","doi-asserted-by":"publisher","first-page":"2153","DOI":"10.1016\/j.eswa.2014.09.042","volume":"42","author":"CZ Pan","year":"2015","unstructured":"Pan CZ, Lai XZ, Yang SX, Wu M (2015) A biologically inspired approach to tracking control of underactuated surface vessels subject to unknown dynamics. Expert Syst Appl 42(4):2153\u20132161","journal-title":"Expert Syst Appl"},{"issue":"1\u20134","key":"5922_CR28","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/S0020-0255(02)00165-2","volume":"142","author":"Y Yang","year":"2002","unstructured":"Yang Y, Zhou C, Jia X (2002) Robust adaptive fuzzy control and its application to ship roll stabilization. Inf Sci 142(1\u20134):177\u2013194","journal-title":"Inf Sci"},{"issue":"3","key":"5922_CR29","doi-asserted-by":"publisher","first-page":"452","DOI":"10.1016\/j.automatica.2011.01.025","volume":"47","author":"M Chen","year":"2011","unstructured":"Chen M, Ge SS, Ren B (2011) Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints. Automatica 47(3):452\u2013465","journal-title":"Automatica"},{"issue":"11","key":"5922_CR30","doi-asserted-by":"publisher","first-page":"6945","DOI":"10.1007\/s00521-018-3520-3","volume":"31","author":"VT Yen","year":"2019","unstructured":"Yen VT, Nan WY, Cuong PVL (2019) Recurrent fuzzy wavelet neural networks based on robust adaptive sliding mode control for industrial robot manipulators. Neural Comput Appl 31(11):6945\u20136958","journal-title":"Neural Comput Appl"},{"key":"5922_CR31","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1016\/j.isatra.2018.12.047","volume":"90","author":"M Van","year":"2019","unstructured":"Van M (2019) An enhanced tracking control of marine surface vessels based on adaptive integral sliding mode control and disturbance observer. ISA Trans 90:30\u201340","journal-title":"ISA Trans"},{"issue":"3","key":"5922_CR32","doi-asserted-by":"publisher","first-page":"461","DOI":"10.1049\/iet-cta.2011.0176","volume":"6","author":"R Yu","year":"2012","unstructured":"Yu R, Zhu Q, Xia G, Liu Z (2012) Sliding mode tracking control of an underactuated surface vessel. IET Control Theor Appl 6(3):461\u2013466","journal-title":"IET Control Theor Appl"},{"key":"5922_CR33","doi-asserted-by":"crossref","unstructured":"Skjetne R, Smogeli, $$\\phi $$, Fossen TI (2004) Modeling, identification, and adaptive maneuvering of Cybership II: a complete design with experiments. In: Proc. IFAC Conf. Control Appl. Marine Syst, 203-208","DOI":"10.1016\/S1474-6670(17)31732-9"},{"issue":"2","key":"5922_CR34","doi-asserted-by":"publisher","first-page":"311","DOI":"10.1109\/TITS.2008.922932","volume":"9","author":"CE Alfaro","year":"2008","unstructured":"Alfaro CE, Mcgookin EW, Murray SDJ, Fossen TI (2008) Genetic programming for the automatic design of controllers for a surface ship. IEEE Trans Intell Transp Syst 9(2):311\u2013321","journal-title":"IEEE Trans Intell Transp Syst"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-05922-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00521-021-05922-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-05922-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,19]],"date-time":"2021-10-19T00:49:13Z","timestamp":1634604553000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00521-021-05922-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,27]]},"references-count":34,"journal-issue":{"issue":"19","published-print":{"date-parts":[[2021,10]]}},"alternative-id":["5922"],"URL":"https:\/\/doi.org\/10.1007\/s00521-021-05922-x","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,27]]},"assertion":[{"value":"29 August 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 March 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 May 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare there is no conflicts of interest regarding the publication of this paper.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}}]}}