{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,29]],"date-time":"2025-11-29T07:58:00Z","timestamp":1764403080444,"version":"3.37.3"},"reference-count":48,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2021,5,8]],"date-time":"2021-05-08T00:00:00Z","timestamp":1620432000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,5,8]],"date-time":"2021-05-08T00:00:00Z","timestamp":1620432000000},"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":["61773216"],"award-info":[{"award-number":["61773216"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["Grant No. 61673153"],"award-info":[{"award-number":["Grant No. 61673153"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["Grant No.62073113","Grant No.62003122"],"award-info":[{"award-number":["Grant No.62073113","Grant No.62003122"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003995","name":"Natural Science Foundation of Anhui Province","doi-asserted-by":"publisher","award":["2008085UD03","1808085MF180"],"award-info":[{"award-number":["2008085UD03","1808085MF180"]}],"id":[{"id":"10.13039\/501100003995","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["Grants No. PA2020GDKC0016"],"award-info":[{"award-number":["Grants No. PA2020GDKC0016"]}],"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":[[2022,4]]},"DOI":"10.1007\/s00521-021-06056-w","type":"journal-article","created":{"date-parts":[[2021,5,8]],"date-time":"2021-05-08T11:03:35Z","timestamp":1620471815000},"page":"5107-5117","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Neural network-based robust finite-time attitude stabilization for rigid spacecraft under angular velocity constraint"],"prefix":"10.1007","volume":"34","author":[{"given":"Bo","family":"Yu","sequence":"first","affiliation":[]},{"given":"Haibo","family":"Du","sequence":"additional","affiliation":[]},{"given":"Lijian","family":"Ding","sequence":"additional","affiliation":[]},{"given":"Di","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Hua","family":"Li","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,5,8]]},"reference":[{"issue":"1","key":"6056_CR1","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1002\/rnc.3554","volume":"27","author":"H Gui","year":"2017","unstructured":"Gui H, Vukovich G (2017) Finite-time angular velocity observers for rigid-body attitude tracking with bounded inputs. Int J Robust Nonlinear Control 27(1):15\u201338","journal-title":"Int J Robust Nonlinear Control"},{"key":"6056_CR2","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1016\/j.isatra.2019.08.026","volume":"98","author":"H Du","year":"2020","unstructured":"Du H, Zhang J, Wu D, Zhu W, Li H, Chu Z (2020) Fixed-time attitude stabilization for a rigid spacecraft. ISA Trans 98:263\u2013270","journal-title":"ISA Trans"},{"issue":"6","key":"6056_CR3","doi-asserted-by":"crossref","first-page":"2352","DOI":"10.1002\/rnc.4886","volume":"30","author":"Y Cong","year":"2020","unstructured":"Cong Y, Du H, Jin Q (2020) Formation control for multiquadrotor aircraft: connectivity preserving and collision avoidance. Int J Robust Nonlinear Control 30(6):2352\u20132366","journal-title":"Int J Robust Nonlinear Control"},{"issue":"5","key":"6056_CR4","doi-asserted-by":"crossref","first-page":"1042","DOI":"10.1109\/9.763225","volume":"44","author":"M Krstic","year":"1999","unstructured":"Krstic M, Tsiotras P (1999) Inverse optimal stabilization of a rigid spacecraft. IEEE Trans Autom Control 44(5):1042\u20131049","journal-title":"IEEE Trans Autom Control"},{"issue":"3","key":"6056_CR5","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1016\/j.ast.2005.01.002","volume":"9","author":"Y Park","year":"2005","unstructured":"Park Y (2005) Robust and optimal attitude stabilization of spacecraft with external disturbances. Aerosp Sci Technol 9(3):253\u2013259","journal-title":"Aerosp Sci Technol"},{"issue":"7","key":"6056_CR6","doi-asserted-by":"crossref","first-page":"1781","DOI":"10.1016\/j.automatica.2007.11.022","volume":"44","author":"D Gasagrandea","year":"2008","unstructured":"Gasagrandea D, Astolfi A, Parisini T (2008) Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body. Automatica 44(7):1781\u20131789","journal-title":"Automatica"},{"issue":"67","key":"6056_CR7","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1109\/TCSI.2019.2939375","volume":"I","author":"B Jiang","year":"2020","unstructured":"Jiang B, Lu J, Liu Y, Cao J (2020) Periodic event-triggered adaptive control for attitude stabilization under input saturation. IEEE Trans Circuits Syst I(67):249\u2013258","journal-title":"IEEE Trans Circuits Syst"},{"key":"6056_CR8","doi-asserted-by":"crossref","first-page":"565","DOI":"10.1007\/s00521-016-2540-0","volume":"29","author":"M Cai","year":"2018","unstructured":"Cai M, Xiang Z (2018) Adaptive finite-time control of a class of non-triangular nonlinear systems with input saturation. Neural Comput Appl 29:565\u2013576","journal-title":"Neural Comput Appl"},{"issue":"16","key":"6056_CR9","doi-asserted-by":"crossref","first-page":"9474","DOI":"10.1016\/j.jfranklin.2019.09.010","volume":"356","author":"F Wang","year":"2019","unstructured":"Wang F, Hou M, Cao X (2019) Event-triggered backstepping control for attitude stabilization of spacecraft. J Frank Ins Eng Appl Math 356(16):9474\u20139501","journal-title":"J Frank Ins Eng Appl Math"},{"issue":"6","key":"6056_CR10","doi-asserted-by":"crossref","first-page":"1935","DOI":"10.1109\/TCYB.2017.2720680","volume":"48","author":"X Wang","year":"2018","unstructured":"Wang X, Li S, Chen M (2018) Composite backstepping consensus algorithms of leader-follower higher-order nonlinear multiagent systems subject to mismatched disturbances. IEEE Trans Cyber 48(6):1935\u20131946","journal-title":"IEEE Trans Cyber"},{"issue":"12","key":"6056_CR11","doi-asserted-by":"crossref","first-page":"10587","DOI":"10.1109\/TIE.2019.2962464","volume":"67","author":"H Wang","year":"2020","unstructured":"Wang H, Mi C, Cao Z, Zheng J, Man Z, Jin X, Tang H (2020) Precise discrete-time steering control for robotic fish based on data-assisted technique and super-twisting-like algorithm. IEEE Trans Ind Electron 67(12):10587\u201310599","journal-title":"IEEE Trans Ind Electron"},{"issue":"12","key":"6056_CR12","doi-asserted-by":"crossref","first-page":"14713","DOI":"10.1109\/TVT.2020.3036400","volume":"69","author":"J Zhang","year":"2020","unstructured":"Zhang J, Wang H, Ma M, Yu M, Yazdani A, Chen L (2020) Active front steering-based electronic stability control for steer-by-wire vehicles via terminal sliding mode and extreme learning machine. IEEE Trans Veh Technol 69(12):14713\u201314726","journal-title":"IEEE Trans Veh Technol"},{"issue":"1","key":"6056_CR13","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1109\/TVT.2020.3045778","volume":"70","author":"Y Hu","year":"2021","unstructured":"Hu Y, Wang H, He S, Zheng J, Ping Z, Shao Ke, Cao Z, Man Z (2021) Adaptive tracking control of an electronic throttle valve based on recursive terminal sliding mode. IEEE Trans Veh Technol 70(1):251\u2013262","journal-title":"IEEE Trans Veh Technol"},{"issue":"9","key":"6056_CR14","doi-asserted-by":"crossref","first-page":"9589","DOI":"10.1109\/TVT.2020.3003326","volume":"69","author":"J Zhang","year":"2020","unstructured":"Zhang J, Wang H, Zheng J, Cao Z, Man Z, Yu M, Chen L (2020) Adaptive sliding mode-based lateral stability control of steer-by-wire vehicles with experimental validations. IEEE Trans Veh Technol 69(9):9589\u20139600","journal-title":"IEEE Trans Veh Technol"},{"key":"6056_CR15","doi-asserted-by":"crossref","first-page":"14447","DOI":"10.1007\/s00521-019-04502-4","volume":"32","author":"J Zhang","year":"2019","unstructured":"Zhang J, Wang H, Cao Z, Zheng J, Yu M, Yazdani A, Shahnia F (2019) Fast nonsingular terminal sliding mode control for permanent magnet linear motor via ELM. Neural Comput Appl 32:14447\u201314457","journal-title":"Neural Comput Appl"},{"key":"6056_CR16","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2019.106584","author":"L Chen","year":"2020","unstructured":"Chen L, Wang H, Huang Y, Ping Z, Yu M, Ye M, Hu Y (2020) Robust hierarchical terminal sliding mode control of two-wheeled self-balancing vehicle using perturbation estimation. Mech Syst Sig Process. https:\/\/doi.org\/10.1016\/j.ymssp.2019.106584","journal-title":"Mech Syst Sig Process"},{"issue":"12","key":"6056_CR17","doi-asserted-by":"crossref","first-page":"4250","DOI":"10.1002\/rnc.4625","volume":"29","author":"S Ding","year":"2019","unstructured":"Ding S, Liu L, Park J (2019) A novel adaptive nonsingular terminal sliding mode controller design and its application to active front steering system. Int J Robust Nonlinear Control 29(12):4250\u20134269","journal-title":"Int J Robust Nonlinear Control"},{"key":"6056_CR18","first-page":"1","volume":"135","author":"Y Hu","year":"2020","unstructured":"Hu Y, Wang H (2020) Robust tracking control for vehicle electronic throttle using adaptive dynamic sliding mode and extended state observer. Mech Syst Sig Process 135:1\u201318","journal-title":"Mech Syst Sig Process"},{"key":"6056_CR19","doi-asserted-by":"crossref","first-page":"406","DOI":"10.1016\/j.automatica.2019.04.013","volume":"105","author":"B Ning","year":"2019","unstructured":"Ning B, Han Q, Zuo Z (2019) Practical fixed-time consensus for integrator-type multi-agent systems: a time base generator approach. Automatica 105:406\u2013414","journal-title":"Automatica"},{"key":"6056_CR20","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.automatica.2019.108704","volume":"112","author":"S Ding","year":"2020","unstructured":"Ding S, Park J, Chen C (2020) Second-order sliding mode controller design with output constraint. Automatica 112:1\u20138","journal-title":"Automatica"},{"issue":"5","key":"6056_CR21","doi-asserted-by":"crossref","first-page":"1577","DOI":"10.1109\/TCYB.2017.2708321","volume":"48","author":"B Ning","year":"2020","unstructured":"Ning B, Han Q, Zuo Z, Jin J, Zheng J (2020) Collective behaviors of mobile robots beyond the nearest neighbor rules with switching topology. IEEE Trans Cybern 48(5):1577\u20131590","journal-title":"IEEE Trans Cybern"},{"key":"6056_CR22","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-020-05168-z","author":"K Wang","year":"2020","unstructured":"Wang K, Liu X, Jing Y (2020) Robust finite-time $$H_{\\infty }$$ congestion control for a class of AQM network systems. Neural Comput Appl. https:\/\/doi.org\/10.1007\/s00521-020-05168-z","journal-title":"Neural Comput Appl"},{"issue":"3","key":"6056_CR23","doi-asserted-by":"crossref","first-page":"2417","DOI":"10.1109\/TIE.2020.2973904","volume":"67","author":"H Du","year":"2021","unstructured":"Du H, Cheng Y, Wen G, Lv J (2021) Design and implementation of bounded finite-time control algorithm for speed regulation of permanent magnet synchronous motor. IEEE Trans Ind Electron 67(3):2417\u20132426","journal-title":"IEEE Trans Ind Electron"},{"key":"6056_CR24","doi-asserted-by":"crossref","first-page":"14507","DOI":"10.1007\/s00521-019-04446-9","volume":"32","author":"Y Hu","year":"2019","unstructured":"Hu Y, Wang H, Cao Z, Zheng J, Ping Z, Chen L, Jin X (2019) Extreme-learning-machine-based FNTSM control strategy for electronic throttle. Neural Comput Appl 32:14507\u201314518","journal-title":"Neural Comput Appl"},{"key":"6056_CR25","first-page":"1087","volume":"113","author":"H Du","year":"2020","unstructured":"Du H, Wen G, Wu D, Cheng Y, Lu J (2020) Distributed fixed-time consensus for nonlinear heterogeneous multi-agent systems. Automatica 113:1087\u20131097","journal-title":"Automatica"},{"issue":"6","key":"6056_CR26","doi-asserted-by":"crossref","first-page":"2545","DOI":"10.1109\/TAC.2018.2867163","volume":"64","author":"S Ding","year":"2019","unstructured":"Ding S, Mei K, Li S (2019) A new second-order sliding mode and its application to nonlinear constrained systems. IEEE Trans Automat Control 64(6):2545\u20132552","journal-title":"IEEE Trans Automat Control"},{"issue":"12","key":"6056_CR27","doi-asserted-by":"crossref","first-page":"5296","DOI":"10.1109\/TAC.2020.2979274","volume":"65","author":"X Wang","year":"2020","unstructured":"Wang X, Wang G, Li S (2020) Distributed finite-time optimization for integrator chain multiagent systems with disturbances. IEEE Trans Automat Control 65(12):5296\u20135311","journal-title":"IEEE Trans Automat Control"},{"key":"6056_CR28","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.108843","author":"C Chen","year":"2020","unstructured":"Chen C, Sun Z (2020) Output feedback finite-time stabilization for high order planar systems with an output constraint. Automatica. https:\/\/doi.org\/10.1016\/j.automatica.2020.108843","journal-title":"Automatica"},{"key":"6056_CR29","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2019.108704","author":"S Ding","year":"2020","unstructured":"Ding S, Park J, Tayebi Chen C (2020) Second-order sliding mode controller design with output constraint. Automatica. https:\/\/doi.org\/10.1016\/j.automatica.2019.108704","journal-title":"Automatica"},{"issue":"6","key":"6056_CR30","doi-asserted-by":"crossref","first-page":"686","DOI":"10.1002\/rnc.1624","volume":"21","author":"Z Zhu","year":"2011","unstructured":"Zhu Z, Xia Y, Fu M (2011) Attitude stabilization of rigid spacecraft with finite-time convergence. Int J Robust Nonlinear Control 21(6):686\u2013702","journal-title":"Int J Robust Nonlinear Control"},{"issue":"3","key":"6056_CR31","doi-asserted-by":"crossref","first-page":"740","DOI":"10.2514\/1.56262","volume":"35","author":"H Du","year":"2012","unstructured":"Du H, Li S (2012) Finite-time attitude stabilization for a spacecraft using homogeneous method. J Guid Control Dyn 35(3):740\u2013748","journal-title":"J Guid Control Dyn"},{"issue":"6","key":"6056_CR32","doi-asserted-by":"crossref","first-page":"1372","DOI":"10.2514\/3.21555","volume":"18","author":"B Wie","year":"1995","unstructured":"Wie B, Lu J (1995) Feedback control logic for spacecraft eigenaxis rotations under slew rate and control constraints. J Guid Control Dyn 18(6):1372\u20131379","journal-title":"J Guid Control Dyn"},{"key":"6056_CR33","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1016\/j.automatica.2017.12.029","volume":"90","author":"Q Shen","year":"2018","unstructured":"Shen Q, Yue C, Goh C, Wu B, Wang D (2018) Rigid-body attitude stabilization with attitude and angular rate constraints. Automatica 90:157\u2013163","journal-title":"Automatica"},{"issue":"4","key":"6056_CR34","doi-asserted-by":"crossref","first-page":"3107","DOI":"10.1109\/TIE.2019.2913826","volume":"67","author":"L Sun","year":"2020","unstructured":"Sun L (2020) Adaptive fault-tolerant constrained control of cooperative spacecraft rendezvous and docking. IEEE Trans Ind Electron 67(4):3107\u20133115","journal-title":"IEEE Trans Ind Electron"},{"key":"6056_CR35","doi-asserted-by":"publisher","first-page":"24","DOI":"10.3390\/en12244712","volume":"12","author":"H Habibi","year":"2019","unstructured":"Habibi H, Nohooji R, Howarda L, Simani S (2019) Fault-tolerant neuro adaptive constrained control of wind turbines for power regulation with uncertain wind speed variation. Energies 12:24. https:\/\/doi.org\/10.3390\/en12244712","journal-title":"Energies"},{"key":"6056_CR36","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1016\/j.ins.2018.12.084","volume":"482","author":"H Habibi","year":"2019","unstructured":"Habibi H, Nohooji R, Howarda L (2019) Backstepping nussbaum gain dynamic surface control for a class of input and state constrained systems with actuator faults. Inf Sci 482:27\u201346","journal-title":"Inf Sci"},{"issue":"4","key":"6056_CR37","first-page":"439","volume":"41","author":"M Shuster","year":"1993","unstructured":"Shuster M (1993) A survey of attitude representations. J Astronaut Sci 41(4):439\u2013517","journal-title":"J Astronaut Sci"},{"issue":"3","key":"6056_CR38","doi-asserted-by":"crossref","first-page":"751","DOI":"10.1137\/S0363012997321358","volume":"38","author":"S Bhat","year":"2000","unstructured":"Bhat S, Bernstein D (2000) Finite-time stability of continuous autonomous systems. SIAM J Control Opt 38(3):751\u2013766","journal-title":"SIAM J Control Opt"},{"key":"6056_CR39","doi-asserted-by":"crossref","unstructured":"Bhat S, Bernstein D (1997) Finite-time stability of homogeneous systems. In: Proceedings of the American Control Conference. Albuquerque, NewMexico, 2513-2514","DOI":"10.1109\/ACC.1997.609245"},{"issue":"2","key":"6056_CR40","doi-asserted-by":"crossref","first-page":"305","DOI":"10.1109\/9.905699","volume":"46","author":"Y Hong","year":"2001","unstructured":"Hong Y, Huang J, Xu Y (2001) On an output feedback finite-time stabilization problem. IEEE Trans Automat Control 46(2):305\u2013309","journal-title":"IEEE Trans Automat Control"},{"issue":"4","key":"6056_CR41","first-page":"185","volume":"46","author":"Y Hong","year":"2002","unstructured":"Hong Y, Xu Y, Huang J (2002) Finite-time control for robot manipulators. Syst Control Lett 46(4):185\u2013200","journal-title":"Syst Control Lett"},{"issue":"11","key":"6056_CR42","doi-asserted-by":"crossref","first-page":"1957","DOI":"10.1016\/j.automatica.2005.07.001","volume":"41","author":"S Yu","year":"2005","unstructured":"Yu S, Yu X, Shirinzadeh B, Man Z (2005) Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica 41(11):1957\u20131964","journal-title":"Automatica"},{"key":"6056_CR43","volume-title":"Nonlinear Systems","author":"H Khalil","year":"2002","unstructured":"Khalil H (2002) Nonlinear Systems. Prentice Hall, Upper Saddle River, NJ"},{"issue":"9","key":"6056_CR44","doi-asserted-by":"crossref","first-page":"1632","DOI":"10.1177\/0142331219893799","volume":"42","author":"W Zhu","year":"2020","unstructured":"Zhu W, Chen D, Du H, Wang X (2020) Position control for permanent magnet synchronous motor based on neural network and terminal sliding mode control. Trans Inst Meas Control 42(9):1632\u20131640","journal-title":"Trans Inst Meas Control"},{"issue":"3","key":"6056_CR45","doi-asserted-by":"crossref","first-page":"562","DOI":"10.1109\/TCST.2006.872519","volume":"14","author":"A Tayebi","year":"2006","unstructured":"Tayebi A, McGilvray S (2006) Attitude stabilization of a VTOL quadrotor aircraft. EEE Trans Control Syst Technol 14(3):562\u2013571","journal-title":"EEE Trans Control Syst Technol"},{"issue":"4","key":"6056_CR46","doi-asserted-by":"crossref","first-page":"3090","DOI":"10.1109\/TAES.2014.120705","volume":"50","author":"Z Zuo","year":"2014","unstructured":"Zuo Z, Ru P (2014) Augmented $$L_1$$ adaptive tracking control of quad-rotor unmanned aircrafts. IEEE Trans Aerosp Electron Syst 50(4):3090\u20133101","journal-title":"IEEE Trans Aerosp Electron Syst"},{"issue":"5","key":"6056_CR47","doi-asserted-by":"crossref","first-page":"2891","DOI":"10.1109\/TIE.2014.2364982","volume":"62","author":"B Zhao","year":"2015","unstructured":"Zhao B, Xian B, Zhang Y, Zhang X (2015) Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology. IEEE Trans Ind Electron 62(5):2891\u20132902","journal-title":"IEEE Trans Ind Electron"},{"issue":"1","key":"6056_CR48","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1109\/TCYB.2017.2777463","volume":"49","author":"H Du","year":"2017","unstructured":"Du H, Zhu W, Wen G, Duan Z, Lv J (2017) Distributed formation control of multiple quadrotor aircraft based on nonsmooth consensus algorithms. IEEE Trans Cybern 49(1):342\u2013353","journal-title":"IEEE Trans Cybern"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-06056-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00521-021-06056-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-06056-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,3]],"date-time":"2023-11-03T12:38:08Z","timestamp":1699015088000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00521-021-06056-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,8]]},"references-count":48,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2022,4]]}},"alternative-id":["6056"],"URL":"https:\/\/doi.org\/10.1007\/s00521-021-06056-w","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"type":"print","value":"0941-0643"},{"type":"electronic","value":"1433-3058"}],"subject":[],"published":{"date-parts":[[2021,5,8]]},"assertion":[{"value":"13 November 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 April 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 May 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}