{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,26]],"date-time":"2026-08-26T12:55:20Z","timestamp":1787748920277,"version":"build-2784847793"},"reference-count":55,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T00:00:00Z","timestamp":1722988800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T00:00:00Z","timestamp":1722988800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001778","name":"Deakin University","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100001778","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>This research proposes a novel BLF-based backstepping controller for path tracking of Autonomous Vehicles (AVs) with unknown dynamics and unmeasurable states. The proposed framework includes: (1) forming geometric-dynamic model of the vehicle by combining the dynamics of the vehicle with the kinematics of the visual measurement system, (2) designing a fixed-time Extended-State Observer (ESO) to estimate the unknown dynamics and unmeasurable states, and (3) introducing a BLF-based controller for faster response and more accurate path tracking compared to previous BLF-based controllers. Besides the novelty of the BLF-based controller, by transforming the closed-loop error dynamics into a unified proportional-derivative (PD)-type structure, an intuitive criterion is proposed to provide a systematic procedure for comparing BLF-based controllers. A combined BLF is further proposed based on this performance criterion to eliminate the sensitivity of BLF-based controllers to the magnitude of the constraint. The stability analysis is performed for the fixed-time ESO and the closed-loop control system. MATLAB\/CarSim co-simulation is conducted to evaluate the performance of the proposed control system. The outcomes of the work show that the closed-loop control system is exponentially stable. In addition, it can provide a faster response and result in more accurate path tracking compared to previous BLF-based control systems.<\/jats:p>","DOI":"10.1007\/s10846-024-02152-w","type":"journal-article","created":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T12:02:08Z","timestamp":1723032128000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Barrier Lyapunov Function-based Backstepping Controller Design for Path Tracking of Autonomous Vehicles"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7875-0010","authenticated-orcid":false,"given":"Alireza","family":"Hosseinnajad","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Navid","family":"Mohajer","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Saeid","family":"Nahavandi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,8,7]]},"reference":[{"issue":"1","key":"2152_CR1","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1007\/s10846-022-01603-6","volume":"105","author":"K Shaheen","year":"2022","unstructured":"Shaheen, K., Hanif, M.A., Hasan, O., Shafique, M.: Continual learning for real-world autonomous systems: Algorithms, challenges and frameworks. J. Intell. Rob. Syst. 105(1), 9 (2022)","journal-title":"J. Intell. Rob. Syst."},{"issue":"11","key":"2152_CR2","doi-asserted-by":"publisher","first-page":"3230","DOI":"10.1109\/TITS.2016.2544791","volume":"17","author":"J Guo","year":"2016","unstructured":"Guo, J., Hu, P., Wang, R.: Nonlinear coordinated steering and braking control of vision-based autonomous vehicles in emergency obstacle avoidance. IEEE Trans. Intell. Transp. Syst. 17(11), 3230\u20133240 (2016)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"3","key":"2152_CR3","doi-asserted-by":"publisher","first-page":"156","DOI":"10.1109\/MITS.2019.2953533","volume":"13","author":"N Mohajer","year":"2020","unstructured":"Mohajer, N., Nahavandi, S., Abdi, H., Najdovski, Z.: Enhancing passenger comfort in autonomous vehicles through vehicle handling analysis and optimization. IEEE Intell. Transp. Syst. Mag. 13(3), 156\u2013173 (2020)","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"issue":"1","key":"2152_CR4","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1007\/s10846-022-01636-x","volume":"105","author":"V Sezer","year":"2022","unstructured":"Sezer, V.: An optimized path tracking approach considering obstacle avoidance and comfort. J. Intell. Rob. Syst. 105(1), 21 (2022)","journal-title":"J. Intell. Rob. Syst."},{"key":"2152_CR5","doi-asserted-by":"publisher","first-page":"123165","DOI":"10.1109\/ACCESS.2021.3110435","volume":"9","author":"D Ao","year":"2021","unstructured":"Ao, D., Huang, W., Wong, P.K., Li, J.: Robust backstepping super-twisting sliding mode control for autonomous vehicle path following. IEEE Access. 9, 123165\u2013123177 (2021)","journal-title":"IEEE Access."},{"key":"2152_CR6","doi-asserted-by":"publisher","first-page":"104166","DOI":"10.1016\/j.robot.2022.104166","volume":"155","author":"M Yue","year":"2022","unstructured":"Yue, M., Fu, G., Wu, M., Zhao, Y., Zhang, S.: Vehicle motion segmentation via combining neural networks and geometric methods. Robot. Auton. Syst. 155, 104166 (2022)","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"2152_CR7","doi-asserted-by":"publisher","first-page":"80","DOI":"10.1109\/MITS.2021.3080075","volume":"14","author":"H Gao","year":"2021","unstructured":"Gao, H., et al.: Adaptive finite-time trajectory tracking control of autonomous vehicles that experience disturbances and actuator saturation. IEEE Intell. Transp. Syst. Mag. 14(2), 80\u201391 (2021)","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"issue":"5","key":"2152_CR8","doi-asserted-by":"publisher","first-page":"646","DOI":"10.1049\/itr2.12051","volume":"15","author":"M Rokonuzzaman","year":"2021","unstructured":"Rokonuzzaman, M., Mohajer, N., Nahavandi, S., Mohamed, S.: Review and performance evaluation of path tracking controllers of autonomous vehicles. IET Intel. Transport Syst. 15(5), 646\u2013670 (2021)","journal-title":"IET Intel. Transport Syst."},{"issue":"7","key":"2152_CR9","doi-asserted-by":"publisher","first-page":"1393","DOI":"10.1016\/S0005-1098(97)00055-1","volume":"33","author":"ZP JIANGdagger","year":"1997","unstructured":"JIANGdagger, Z.P., Nijmeijer, H.: Tracking control of mobile robots: A case study in backstepping. Automatica. 33(7), 1393\u20131399 (1997)","journal-title":"Automatica."},{"issue":"6","key":"2152_CR10","doi-asserted-by":"publisher","first-page":"835","DOI":"10.1109\/TCST.2002.804116","volume":"10","author":"G Oriolo","year":"2002","unstructured":"Oriolo, G., De Luca, A., Vendittelli, M.: WMR control via dynamic feedback linearization: design, implementation, and experimental validation. IEEE Trans. Control Syst. Technol. 10(6), 835\u2013852 (2002)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"2","key":"2152_CR11","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1109\/TRO.2009.2014494","volume":"25","author":"D Buccieri","year":"2009","unstructured":"Buccieri, D., Perritaz, D., Mullhaupt, P., Jiang, Z.-P., Bonvin, D.: Velocity-scheduling control for a unicycle mobile robot: Theory and experiments. IEEE Trans. Rob. 25(2), 451\u2013458 (2009)","journal-title":"IEEE Trans. Rob."},{"key":"2152_CR12","doi-asserted-by":"publisher","first-page":"128233","DOI":"10.1109\/ACCESS.2021.3112560","volume":"9","author":"M Rokonuzzaman","year":"2021","unstructured":"Rokonuzzaman, M., Mohajer, N., Nahavandi, S., Mohamed, S.: Model predictive control with learned vehicle dynamics for autonomous vehicle path tracking. IEEE Access. 9, 128233\u2013128249 (2021)","journal-title":"IEEE Access."},{"key":"2152_CR13","doi-asserted-by":"crossref","unstructured":"Rokonuzzaman, M., Mohajer N., and Nahavandi S. NMPC-based controller for autonomous vehicles considering handling performance. presented at the 2019 7th International Conference on Control, Mechatronics and Automation (ICCMA), (2019).","DOI":"10.1109\/ICCMA46720.2019.8988688"},{"issue":"6","key":"2152_CR14","doi-asserted-by":"publisher","first-page":"1510","DOI":"10.1007\/s12555-019-0442-5","volume":"18","author":"H Xia","year":"2020","unstructured":"Xia, H., Chen, J., Lan, F., Liu, Z.: Motion control of autonomous vehicles with guaranteed prescribed performance. Int. J. Control Autom. Syst. 18(6), 1510\u20131517 (2020)","journal-title":"Int. J. Control Autom. Syst."},{"key":"2152_CR15","doi-asserted-by":"crossref","unstructured":"Hingwe, P., and Tomizuka M. A variable look-ahead controller for lateral guidance of four wheeled vehicles. presented at the Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No. 98CH36207), (1998).","DOI":"10.1109\/ACC.1998.694619"},{"issue":"5","key":"2152_CR16","doi-asserted-by":"publisher","first-page":"442","DOI":"10.1177\/027836499901800502","volume":"18","author":"CJ Taylor","year":"1999","unstructured":"Taylor, C.J., Ko\u0161eck\u00e1, J., Blasi, R., Malik, J.: A comparative study of vision-based lateral control strategies for autonomous highway driving. The International Journal of Robotics Research. 18(5), 442\u2013453 (1999)","journal-title":"The International Journal of Robotics Research."},{"issue":"12","key":"2152_CR17","doi-asserted-by":"publisher","first-page":"1459","DOI":"10.1016\/j.conengprac.2011.08.005","volume":"19","author":"R Marino","year":"2011","unstructured":"Marino, R., Scalzi, S., Netto, M.: Nested PID steering control for lane keeping in autonomous vehicles. Control. Eng. Pract. 19(12), 1459\u20131467 (2011)","journal-title":"Control. Eng. Pract."},{"issue":"8","key":"2152_CR18","doi-asserted-by":"publisher","first-page":"3247","DOI":"10.1109\/TITS.2019.2925026","volume":"21","author":"X Yuan","year":"2019","unstructured":"Yuan, X., Huang, G., Shi, K.: Improved adaptive path following control system for autonomous vehicle in different velocities. IEEE Trans. Intell. Transp. Syst. 21(8), 3247\u20133256 (2019)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"9","key":"2152_CR19","doi-asserted-by":"publisher","first-page":"8698","DOI":"10.1109\/TIE.2020.3009585","volume":"68","author":"S Cheng","year":"2020","unstructured":"Cheng, S., Li, L., Chen, X., Wu, J.: Model-predictive-control-based path tracking controller of autonomous vehicle considering parametric uncertainties and velocity-varying. IEEE Trans. Industr. Electron. 68(9), 8698\u20138707 (2020)","journal-title":"IEEE Trans. Industr. Electron."},{"key":"2152_CR20","doi-asserted-by":"publisher","first-page":"4315","DOI":"10.1109\/ACCESS.2020.3047189","volume":"9","author":"J Kim","year":"2020","unstructured":"Kim, J., Park, J.-H., Jhang, K.-Y.: Decoupled longitudinal and lateral vehicle control based autonomous lane change system adaptable to driving surroundings. IEEE Access. 9, 4315\u20134334 (2020)","journal-title":"IEEE Access."},{"issue":"9","key":"2152_CR21","doi-asserted-by":"publisher","first-page":"5849","DOI":"10.1109\/TITS.2020.3021292","volume":"22","author":"A-T Nguyen","year":"2020","unstructured":"Nguyen, A.-T., Rath, J., Guerra, T.-M., Palhares, R., Zhang, H.: Robust set-invariance based fuzzy output tracking control for vehicle autonomous driving under uncertain lateral forces and steering constraints. IEEE Trans. Intell. Transp. Syst. 22(9), 5849\u20135860 (2020)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"8","key":"2152_CR22","doi-asserted-by":"publisher","first-page":"1143","DOI":"10.1080\/00423114.2017.1305114","volume":"55","author":"H Cao","year":"2017","unstructured":"Cao, H., Song, X., Zhao, S., Bao, S., Huang, Z.: An optimal model-based trajectory following architecture synthesising the lateral adaptive preview strategy and longitudinal velocity planning for highly automated vehicle. Veh. Syst. Dyn. 55(8), 1143\u20131188 (2017)","journal-title":"Veh. Syst. Dyn."},{"key":"2152_CR23","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1016\/j.conengprac.2018.04.007","volume":"76","author":"X Ji","year":"2018","unstructured":"Ji, X., He, X., Lv, C., Liu, Y., Wu, J.: Adaptive-neural-network-based robust lateral motion control for autonomous vehicle at driving limits. Control. Eng. Pract. 76, 41\u201353 (2018)","journal-title":"Control. Eng. Pract."},{"issue":"8","key":"2152_CR24","doi-asserted-by":"publisher","first-page":"1163","DOI":"10.1080\/00423114.2018.1537494","volume":"57","author":"X He","year":"2019","unstructured":"He, X., Liu, Y., Lv, C., Ji, X., Liu, Y.: Emergency steering control of autonomous vehicle for collision avoidance and stabilisation. Veh. Syst. Dyn. 57(8), 1163\u20131187 (2019)","journal-title":"Veh. Syst. Dyn."},{"key":"2152_CR25","doi-asserted-by":"publisher","first-page":"64984","DOI":"10.1109\/ACCESS.2019.2917507","volume":"7","author":"P Wang","year":"2019","unstructured":"Wang, P., Gao, S., Li, L., Cheng, S., Zhao, L.: Automatic steering control strategy for unmanned vehicles based on robust backstepping sliding mode control theory. IEEE Access. 7, 64984\u201364992 (2019)","journal-title":"IEEE Access."},{"key":"2152_CR26","doi-asserted-by":"publisher","first-page":"1947","DOI":"10.1109\/TITS.2020.3030087","volume":"23","author":"Z Liang","year":"2020","unstructured":"Liang, Z., Zhao, J., Liu, B., Wang, Y., Ding, Z.: Velocity-based path following control for autonomous vehicles to avoid exceeding road friction limits using sliding mode method. IEEE Trans. Intell. Transp. Syst. 23, 1947\u20131958 (2020)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"1","key":"2152_CR27","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1002\/rnc.1818","volume":"23","author":"H Imine","year":"2013","unstructured":"Imine, H., Madani, T.: Sliding-mode control for automated lane guidance of heavy vehicle. Int. J. Robust Nonlinear Control 23(1), 67\u201376 (2013)","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"2152_CR28","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1016\/j.ymssp.2019.04.060","volume":"130","author":"H Taghavifar","year":"2019","unstructured":"Taghavifar, H., Rakheja, S.: Path-tracking of autonomous vehicles using a novel adaptive robust exponential-like-sliding-mode fuzzy type-2 neural network controller. Mech. Syst. Signal Process. 130, 41\u201355 (2019)","journal-title":"Mech. Syst. Signal Process."},{"issue":"3","key":"2152_CR29","doi-asserted-by":"publisher","first-page":"2460","DOI":"10.1109\/TIE.2020.2973879","volume":"68","author":"J Chen","year":"2020","unstructured":"Chen, J., Shuai, Z., Zhang, H., Zhao, W.: Path following control of autonomous four-wheel-independent-drive electric vehicles via second-order sliding mode and nonlinear disturbance observer techniques. IEEE Trans. Industr. Electron. 68(3), 2460\u20132469 (2020)","journal-title":"IEEE Trans. Industr. Electron."},{"issue":"7","key":"2152_CR30","doi-asserted-by":"publisher","first-page":"3091","DOI":"10.1109\/TITS.2019.2924937","volume":"21","author":"C Hu","year":"2019","unstructured":"Hu, C., Wang, Z., Qin, Y., Huang, Y., Wang, J., Wang, R.: Lane keeping control of autonomous vehicles with prescribed performance considering the rollover prevention and input saturation. IEEE Trans. Intell. Transp. Syst. 21(7), 3091\u20133103 (2019)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"2152_CR31","doi-asserted-by":"publisher","first-page":"1565","DOI":"10.1109\/TITS.2020.3023617","volume":"23","author":"Y Hwang","year":"2020","unstructured":"Hwang, Y., Kang, C.M., Kim, W.: Robust nonlinear control using barrier Lyapunov function under lateral offset error constraint for lateral control of autonomous vehicles. IEEE Trans. Intell. Transp. Syst. 23, 1565\u20131571 (2020)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"4","key":"2152_CR32","doi-asserted-by":"publisher","first-page":"918","DOI":"10.1016\/j.automatica.2008.11.017","volume":"45","author":"KP Tee","year":"2009","unstructured":"Tee, K.P., Ge, S.S., Tay, E.H.: Barrier Lyapunov functions for the control of output-constrained nonlinear systems. Automatica 45(4), 918\u2013927 (2009)","journal-title":"Automatica"},{"key":"2152_CR33","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.109181","volume":"121","author":"Y-X Li","year":"2020","unstructured":"Li, Y.-X.: Barrier Lyapunov function-based adaptive asymptotic tracking of nonlinear systems with unknown virtual control coefficients. Automatica 121, 109181 (2020)","journal-title":"Automatica"},{"key":"2152_CR34","doi-asserted-by":"publisher","first-page":"519","DOI":"10.1016\/j.ins.2022.06.001","volume":"607","author":"Y Liu","year":"2022","unstructured":"Liu, Y., Zhang, H., Li, Q., Liang, H.: Practical fixed-time bipartite consensus control for nonlinear multi-agent systems: A barrier Lyapunov function-based approach. Inf. Sci. 607, 519\u2013536 (2022)","journal-title":"Inf. Sci."},{"key":"2152_CR35","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2021.107979","volume":"162","author":"H-P Ren","year":"2022","unstructured":"Ren, H.-P., Jiao, S.-S., Li, J., Deng, Y.: Adaptive neural network control of pneumatic servo system considering state constraints. Mech. Syst. Signal Process. 162, 107979 (2022)","journal-title":"Mech. Syst. Signal Process."},{"issue":"7","key":"2152_CR36","doi-asserted-by":"publisher","first-page":"1641","DOI":"10.1109\/TCYB.2016.2554621","volume":"47","author":"W He","year":"2016","unstructured":"He, W., Yin, Z., Sun, C.: Adaptive neural network control of a marine vessel with constraints using the asymmetric barrier Lyapunov function. IEEE Transactions on Cybernetics. 47(7), 1641\u20131651 (2016)","journal-title":"IEEE Transactions on Cybernetics."},{"key":"2152_CR37","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1016\/j.automatica.2019.03.022","volume":"105","author":"J Yu","year":"2019","unstructured":"Yu, J., Zhao, L., Yu, H., Lin, C.: Barrier Lyapunov functions-based command filtered output feedback control for full-state constrained nonlinear systems. Automatica 105, 71\u201379 (2019)","journal-title":"Automatica"},{"issue":"8","key":"2152_CR38","doi-asserted-by":"publisher","first-page":"3424","DOI":"10.1109\/TCYB.2018.2890256","volume":"50","author":"W Sun","year":"2019","unstructured":"Sun, W., Su, S.-F., Wu, Y., Xia, J., Nguyen, V.-T.: Adaptive fuzzy control with high-order barrier Lyapunov functions for high-order uncertain nonlinear systems with full-state constraints. IEEE transactions on cybernetics. 50(8), 3424\u20133432 (2019)","journal-title":"IEEE transactions on cybernetics."},{"key":"2152_CR39","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.110966","volume":"253","author":"H Qin","year":"2022","unstructured":"Qin, H., Chen, X., Sun, Y.: Adaptive state-constrained trajectory tracking control of unmanned surface vessel with actuator saturation based on RBFNN and tan-type barrier Lyapunov function. Ocean Eng. 253, 110966 (2022)","journal-title":"Ocean Eng."},{"issue":"5","key":"2152_CR40","doi-asserted-by":"publisher","first-page":"1242","DOI":"10.1080\/00207179.2018.1501162","volume":"93","author":"C-C Chen","year":"2018","unstructured":"Chen, C.-C., Sun, Z.-Y.: A new approach to stabilisation of a class of nonlinear systems with an output constraint. Int. J. Control 93(5), 1242\u20131250 (2018)","journal-title":"Int. J. Control"},{"issue":"4","key":"2152_CR41","doi-asserted-by":"publisher","first-page":"2835","DOI":"10.1007\/s11071-019-05450-3","volume":"99","author":"H Yao","year":"2020","unstructured":"Yao, H., Gao, F., Huang, J., Wu, Y.: Barrier Lyapunov functions-based fixed-time stabilization of nonholonomic systems with unmatched uncertainties and time-varying output constraints. Nonlinear Dyn. 99(4), 2835\u20132849 (2020)","journal-title":"Nonlinear Dyn."},{"issue":"16","key":"2152_CR42","doi-asserted-by":"publisher","first-page":"11421","DOI":"10.1016\/j.jfranklin.2019.07.013","volume":"357","author":"Z Wang","year":"2020","unstructured":"Wang, Z., Tian, Y., Sun, Y., Liang, B.: Finite-time output-feedback control for teleoperation systems subject to mismatched term and state constraints. J. Franklin Inst. 357(16), 11421\u201311447 (2020)","journal-title":"J. Franklin Inst."},{"issue":"5","key":"2152_CR43","doi-asserted-by":"publisher","first-page":"705","DOI":"10.1631\/FITEE.1900418","volume":"21","author":"T Xue","year":"2020","unstructured":"Xue, T., Wang, Z.-W., Zhang, T., Bai, O., Zhang, M., Han, B.: Fixed-time constrained acceleration reconstruction scheme for robotic exoskeleton via neural networks. Front. Inf. Technol. Electron. Eng. 21(5), 705\u2013722 (2020)","journal-title":"Front. Inf. Technol. Electron. Eng."},{"key":"2152_CR44","doi-asserted-by":"publisher","first-page":"92","DOI":"10.1016\/j.actaastro.2018.12.018","volume":"157","author":"Z Wang","year":"2019","unstructured":"Wang, Z., Chen, Z., Liang, B.: Fixed-time velocity reconstruction scheme for space teleoperation systems: Exp Barrier Lyapunov Function approach. Acta Astronaut. 157, 92\u2013101 (2019)","journal-title":"Acta Astronaut."},{"key":"2152_CR45","doi-asserted-by":"crossref","unstructured":"Rajamani, R. Vehicle dynamics and control. Springer Science & Business Media, (2011).","DOI":"10.1007\/978-1-4614-1433-9_2"},{"issue":"1","key":"2152_CR46","doi-asserted-by":"publisher","first-page":"4","DOI":"10.1007\/s10846-022-01606-3","volume":"105","author":"Z Zhang","year":"2022","unstructured":"Zhang, Z., Qin, J., Wang, S., Kang, Y., Liu, Q.: Ulodnet: a unified lane and obstacle detection network towards drivable area understanding in autonomous navigation. J. Intell. Rob. Syst. 105(1), 4 (2022)","journal-title":"J. Intell. Rob. Syst."},{"key":"2152_CR47","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.110063","volume":"241","author":"A Hosseinnajad","year":"2021","unstructured":"Hosseinnajad, A., Loueipour, M.: Design of finite-time active fault tolerant control system with real-time fault estimation for a remotely operated vehicle. Ocean Eng. 241, 110063 (2021)","journal-title":"Ocean Eng."},{"key":"2152_CR48","doi-asserted-by":"publisher","first-page":"174","DOI":"10.1016\/j.isatra.2021.09.005","volume":"128","author":"T Wang","year":"2021","unstructured":"Wang, T., Liu, Y., Zhang, X.: Extended state observer-based fixed-time trajectory tracking control of autonomous surface vessels with uncertainties and output constraints. ISA Trans. 128, 174\u2013183 (2021)","journal-title":"ISA Trans."},{"key":"2152_CR49","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.111737","volume":"258","author":"A Hosseinnajad","year":"2022","unstructured":"Hosseinnajad, A., Loueipour, M.: Fixed-Time Observer-based Homogeneous Controller with State-dependent Exponent for Fault Tolerant Control of an Underwater Vehicle. Ocean Eng. 258, 111737 (2022)","journal-title":"Ocean Eng."},{"issue":"1","key":"2152_CR50","doi-asserted-by":"publisher","first-page":"921","DOI":"10.1007\/s11071-021-06985-0","volume":"107","author":"T Zhao","year":"2022","unstructured":"Zhao, T., Zou, X., Dian, S.: Fixed-time observer-based adaptive fuzzy tracking control for Mecanum-wheel mobile robots with guaranteed transient performance. Nonlinear Dyn. 107(1), 921\u2013937 (2022)","journal-title":"Nonlinear Dyn."},{"issue":"9","key":"2152_CR51","doi-asserted-by":"publisher","first-page":"8253","DOI":"10.1007\/s11071-022-08222-8","volume":"111","author":"A Hosseinnajad","year":"2023","unstructured":"Hosseinnajad, A., Loueipour, M.: Velocity-based Tuning of Degree of Homogeneity for Finite-Time Stabilization and Fault Tolerant Control of an ROV in the Presence of Thruster Saturation and Rate Limits. Nonlinear Dyn. 111(9), 8253\u20138274 (2023)","journal-title":"Nonlinear Dyn."},{"issue":"4","key":"2152_CR52","doi-asserted-by":"publisher","first-page":"1210","DOI":"10.1007\/s12555-022-0123-7","volume":"21","author":"X Kang","year":"2023","unstructured":"Kang, X., Chai, L., Liu, H.: Anti-swing and Positioning for Double-pendulum Tower Cranes Using Improved Active Disturbance Rejection Controller. Int. J. Control Autom. Syst. 21(4), 1210\u20131221 (2023)","journal-title":"Int. J. Control Autom. Syst."},{"issue":"3","key":"2152_CR53","doi-asserted-by":"publisher","first-page":"755","DOI":"10.1007\/s12555-021-0782-9","volume":"21","author":"Y Wu","year":"2023","unstructured":"Wu, Y., Gao, P., Wu, R., Du, J.: ESPO Based Course-tracking Control of Ships with Input Delay. Int. J. Control Autom. Syst. 21(3), 755\u2013763 (2023)","journal-title":"Int. J. Control Autom. Syst."},{"key":"2152_CR54","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2023.115312","volume":"285","author":"A Hosseinnajad","year":"2023","unstructured":"Hosseinnajad, A., Mohajer, N., Nahavandi, S.: Novel Barrier Lyapunov Function-based Backstepping Fault Tolerant Control System with State and Fault Observer for an ROV with Thruster Constraints. Ocean Eng. 285, 115312 (2023)","journal-title":"Ocean Eng."},{"issue":"8","key":"2152_CR55","doi-asserted-by":"publisher","first-page":"1144","DOI":"10.1049\/iet-cta.2016.1256","volume":"11","author":"M Basin","year":"2017","unstructured":"Basin, M., Yu, P., Shtessel, Y.: Finite-and fixed-time differentiators utilising HOSM techniques. IET Control Theory Appl. 11(8), 1144\u20131152 (2017)","journal-title":"IET Control Theory Appl."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02152-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-024-02152-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02152-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,26]],"date-time":"2024-09-26T09:14:27Z","timestamp":1727342067000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-024-02152-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8,7]]},"references-count":55,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2024,9]]}},"alternative-id":["2152"],"URL":"https:\/\/doi.org\/10.1007\/s10846-024-02152-w","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,8,7]]},"assertion":[{"value":"13 July 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 July 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 August 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval"}},{"value":"The authors consent to publish.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for Publication"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}}],"article-number":"118"}}