{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,22]],"date-time":"2026-09-22T07:31:59Z","timestamp":1790062319274,"version":"4.0.1"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"8","license":[{"start":{"date-parts":[[2020,10,14]],"date-time":"2020-10-14T00:00:00Z","timestamp":1602633600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,10,14]],"date-time":"2020-10-14T00:00:00Z","timestamp":1602633600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int. J. Fuzzy Syst."],"published-print":{"date-parts":[[2020,11]]},"DOI":"10.1007\/s40815-020-00958-y","type":"journal-article","created":{"date-parts":[[2020,10,14]],"date-time":"2020-10-14T19:02:56Z","timestamp":1602702176000},"page":"2493-2503","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["Adaptive Leader\u2013Follower Formation for Unmanned Surface Vehicles Subject to Output Constraints"],"prefix":"10.1007","volume":"22","author":[{"given":"Xiaoling","family":"Liang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ning","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2020,10,14]]},"reference":[{"issue":"2","key":"958_CR1","doi-asserted-by":"publisher","first-page":"852","DOI":"10.1109\/TVT.2017.2760367","volume":"67","author":"J Ghommam","year":"2017","unstructured":"Ghommam, J., Saad, M.: Adaptive leader-follower formation control of underactuated surface vessels under asymmetric range and bearing constraints. IEEE Trans. Vehicular Technol. 67(2), 852\u2013865 (2017)","journal-title":"IEEE Trans. Vehicular Technol."},{"key":"958_CR2","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.: Leader-follower formation control of underactuated autonomous marine surface vehicles with limited torque. Ocean Eng. 105, 196\u2013205 (2015)","journal-title":"Ocean Eng."},{"issue":"14","key":"958_CR3","doi-asserted-by":"publisher","first-page":"4188","DOI":"10.1002\/rnc.4228","volume":"28","author":"JX Zhang","year":"2018","unstructured":"Zhang, J.X., Yang, G.H.: Fault-tolerant leader-follower formation control of marine surface vessels with unknown dynamics and actuator faults. Int. J. Robust Nonlin. Control 28(14), 4188\u20134208 (2018)","journal-title":"Int. J. Robust Nonlin. Control"},{"key":"958_CR4","doi-asserted-by":"publisher","first-page":"228","DOI":"10.1016\/j.automatica.2016.01.064","volume":"68","author":"X Jin","year":"2016","unstructured":"Jin, X.: Fault tolerant finite-time leader-follower formation control for autonomous surface vessels with LOS range and angle constraints. Automatica 68, 228\u2013236 (2016)","journal-title":"Automatica"},{"issue":"5","key":"958_CR5","doi-asserted-by":"publisher","first-page":"1748","DOI":"10.1109\/TCYB.2018.2817610","volume":"49","author":"X Jin","year":"2018","unstructured":"Jin, X.: Nonrepetitive leader-follower formation tracking for multiagent systems with LOS range and angle constraints using iterative learning control[J]. IEEE Trans. Cybern. 49(5), 1748\u20131758 (2018)","journal-title":"IEEE Trans. Cybern."},{"key":"958_CR6","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2947845","author":"Ning Wang","year":"2019","unstructured":"Wang, Ning: Choon Ki Ahn, Hyperbolic-tangent LOS guidance-based finite-time path following of underactuated marine vehicles. IEEE Trans. Ind. Electronics (2019). https:\/\/doi.org\/10.1109\/TIE.2019.2947845","journal-title":"IEEE Trans. Ind. Electronics"},{"issue":"5","key":"958_CR7","doi-asserted-by":"publisher","first-page":"4237","DOI":"10.1109\/TIE.2017.2758743","volume":"65","author":"SL Dai","year":"2017","unstructured":"Dai, S.L., He, S., Lin, H., et al.: Platoon formation control with prescribed performance guarantees for USVs. IEEE Trans. Ind. Electronics 65(5), 4237\u20134246 (2017)","journal-title":"IEEE Trans. Ind. Electronics"},{"issue":"12","key":"958_CR8","doi-asserted-by":"publisher","first-page":"3686","DOI":"10.1109\/TNNLS.2018.2876685","volume":"30","author":"SL Dai","year":"2018","unstructured":"Dai, S.L., He, S., Wang, M., et al.: Adaptive neural control of underactuated surface vessels with prescribed performance guarantees. IEEE Trans. Neural Netw. Learn. Syst. 30(12), 3686\u20133698 (2018)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"6","key":"958_CR9","doi-asserted-by":"publisher","first-page":"2564","DOI":"10.1109\/TMECH.2017.2756110","volume":"22","author":"Z Zheng","year":"2017","unstructured":"Zheng, Z., Feroskhan, M.: Path following of a surface vessel with prescribed performance in the presence of input saturation and external disturbances. IEEE\/ASME Trans. Mech. 22(6), 2564\u20132575 (2017)","journal-title":"IEEE\/ASME Trans. Mech."},{"key":"958_CR10","doi-asserted-by":"publisher","first-page":"159","DOI":"10.1016\/j.oceaneng.2016.02.006","volume":"115","author":"BS Park","year":"2016","unstructured":"Park, B.S., Yoo, S.J.: Robust fault-tolerant tracking with predefined performance for underactuated surface vessels. Ocean Eng. 115, 159\u2013167 (2016)","journal-title":"Ocean Eng."},{"issue":"7","key":"958_CR11","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 Trans. Cybern. 47(7), 1641\u20131651 (2016)","journal-title":"IEEE Trans. Cybern."},{"issue":"4","key":"958_CR12","doi-asserted-by":"crossref","first-page":"1536","DOI":"10.1109\/TCST.2013.2281211","volume":"22","author":"Z Zhao","year":"2013","unstructured":"Zhao, Z., He, W., Ge, S.S.: Adaptive neural network control of a fully actuated marine surface vessel with multiple output constraints. IEEE Trans. Control Syst. Technol. 22(4), 1536\u20131543 (2013)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"958_CR13","doi-asserted-by":"publisher","first-page":"123076","DOI":"10.1109\/ACCESS.2019.2938067","volume":"7","author":"G Xia","year":"2019","unstructured":"Xia, G., Sun, C., Zhao, B., et al.: Neuroadaptive distributed output feedback tracking control for multiple marine surface vessels with input and output constraints. IEEE Access 7, 123076\u2013123085 (2019)","journal-title":"IEEE Access"},{"issue":"2\u20133","key":"958_CR14","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1016\/j.oceaneng.2009.10.004","volume":"37","author":"SR Oh","year":"2010","unstructured":"Oh, S.R., Sun, J.: Path following of underactuated marine surface vessels using line-of-sight based model predictive control. Ocean Eng. 37(2\u20133), 289\u2013295 (2010)","journal-title":"Ocean Eng."},{"issue":"1","key":"958_CR15","first-page":"257","volume":"20","author":"Z Li","year":"2011","unstructured":"Li, Z., Sun, J.: Disturbance compensating model predictive control with application to ship heading control. IEEE Trans. Control Syst. Technol. 20(1), 257\u2013265 (2011)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"958_CR16","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2019.2955137","author":"Z Wu","year":"2019","unstructured":"Wu, Z., Karimi, H.R., Dang, C.: A deterministic annealing neural network algorithm for the minimum concave cost transportation problem. IEEE Trans. Neural Netw. Learn. Syst. (2019). https:\/\/doi.org\/10.1109\/TNNLS.2019.2955137","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"3","key":"958_CR17","doi-asserted-by":"publisher","first-page":"1613","DOI":"10.1109\/TFUZZ.2017.2737405","volume":"26","author":"N Wang","year":"2017","unstructured":"Wang, N., Su, S.F., Yin, J., et al.: Global asymptotic model-free trajectory-independent tracking control of an uncertain marine vehicle: an adaptive universe-based fuzzy control approach. IEEE Trans. Fuzzy Syst. 26(3), 1613\u20131625 (2017)","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"8","key":"958_CR18","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., et al.: Adaptive fuzzy control with high-order barrier Lyapunov functions for high-order uncertain nonlinear systems with full-state constraints. IEEE Trans. Cybern. 50(8), 3424\u20133432 (2019)","journal-title":"IEEE Trans. Cybern."},{"issue":"6","key":"958_CR19","doi-asserted-by":"publisher","first-page":"1693","DOI":"10.1109\/TSMCB.2011.2159264","volume":"41","author":"S Tong","year":"2011","unstructured":"Tong, S., Li, Y., Li, Y., et al.: Observer-based adaptive fuzzy backstepping control for a class of stochastic nonlinear strict-feedback systems. IEEE Trans. Syst. Man Cybern. Part B Cybern. 41(6), 1693\u20131704 (2011)","journal-title":"IEEE Trans. Syst. Man Cybern. Part B Cybern."},{"issue":"8","key":"958_CR20","doi-asserted-by":"publisher","first-page":"2209","DOI":"10.1109\/TSMC.2016.2640950","volume":"47","author":"H Liu","year":"2017","unstructured":"Liu, H., Pan, Y., Li, S., et al.: Adaptive fuzzy backstepping control of fractional-order nonlinear systems. IEEE Trans. Syst. Man Cybern. Syst. 47(8), 2209\u20132217 (2017)","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"4","key":"958_CR21","doi-asserted-by":"publisher","first-page":"886","DOI":"10.1109\/TFUZZ.2008.917301","volume":"16","author":"AM Zou","year":"2008","unstructured":"Zou, A.M., Hou, Z.G., Tan, M.: Adaptive control of a class of nonlinear pure-feedback systems using fuzzy backstepping approach. IEEE Trans. Fuzzy Syst. 16(4), 886\u2013897 (2008)","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"958_CR22","doi-asserted-by":"publisher","first-page":"466","DOI":"10.1016\/j.neucom.2017.06.042","volume":"267","author":"C Liu","year":"2017","unstructured":"Liu, C., Chen, C.L.P., Zou, Z., et al.: Adaptive NN-DSC control design for path following of underactuated surface vessels with input saturation. Neurocomputing 267, 466\u2013474 (2017)","journal-title":"Neurocomputing"},{"issue":"4","key":"958_CR23","doi-asserted-by":"crossref","first-page":"172988141878664","DOI":"10.1177\/1729881418786646","volume":"15","author":"J Zeng","year":"2018","unstructured":"Zeng, J., Wan, L., Li, Y., et al.: Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances. Int. J. Adv. Robotic Syst. 15(4), 1729881418786646 (2018)","journal-title":"Int. J. Adv. Robotic Syst."},{"issue":"10","key":"958_CR24","doi-asserted-by":"publisher","first-page":"1691","DOI":"10.3923\/jas.2013.1691.1697","volume":"13","author":"J Ren","year":"2013","unstructured":"Ren, J., Liu, L.: Adaptive neural network control for ship steering system using filtered backstepping design. J. Appl. Sci. 13(10), 1691\u20131697 (2013)","journal-title":"J. Appl. Sci."},{"issue":"20","key":"958_CR25","doi-asserted-by":"publisher","first-page":"4288","DOI":"10.3390\/app9204288","volume":"9","author":"Z Jin","year":"2019","unstructured":"Jin, Z., Zhang, W., Liu, S., et al.: Command-Filtered backstepping integral sliding mode control with prescribed performance for ship roll stabilization. Appl. Sci. 9(20), 4288 (2019)","journal-title":"Appl. Sci."},{"issue":"3","key":"958_CR26","doi-asserted-by":"publisher","first-page":"269","DOI":"10.2316\/Journal.206.2013.3.206-3822","volume":"28","author":"CZ Pan","year":"2013","unstructured":"Pan, C.Z., Lai, X.Z., Yang, S.X., et al.: Bioinspired neurodynamics based position-tbracking control of hovercraft vessels. Int. J. Robotics Automation 28(3), 269\u2013276 (2013)","journal-title":"Int. J. Robotics Automation"},{"issue":"8","key":"958_CR27","doi-asserted-by":"publisher","first-page":"3211","DOI":"10.1109\/TIE.2011.2130491","volume":"59","author":"SX Yang","year":"2011","unstructured":"Yang, S.X., Zhu, A., Yuan, G., et al.: A bioinspired neurodynamics-based approach to tracking control of mobile robots. IEEE Trans. Ind. Electronics 59(8), 3211\u20133220 (2011)","journal-title":"IEEE Trans. Ind. Electronics"},{"key":"958_CR28","first-page":"103","volume":"2","author":"Y Tami","year":"2017","unstructured":"Tami, Y., Melbous, A., Guessoum, A.: Backstepping approach and Bio-Inspired model based hybrid sliding-mode tracking control for Airship. Int. J. Control Syst. Robotics 2, 103\u2013110 (2017)","journal-title":"Int. J. Control Syst. Robotics"},{"issue":"3","key":"958_CR29","doi-asserted-by":"publisher","first-page":"282","DOI":"10.1016\/j.ijnaoe.2017.08.006","volume":"10","author":"J Zhou","year":"2018","unstructured":"Zhou, J., Ye, D., Zhao, J., et al.: Three-dimensional trajectory tracking for underactuated AUVs with bio-inspired velocity regulation. Int. J. Naval Arch. Ocean Eng. 10(3), 282\u2013293 (2018)","journal-title":"Int. J. Naval Arch. Ocean Eng."},{"issue":"7","key":"958_CR30","doi-asserted-by":"publisher","first-page":"3682","DOI":"10.1109\/TIE.2013.2267698","volume":"61","author":"B Sun","year":"2013","unstructured":"Sun, B., Zhu, D., Yang, S.X.: A bioinspired filtered backstepping tracking control of 7000-m manned submarine vehicle. IEEE Trans. Ind. Electronics 61(7), 3682\u20133693 (2013)","journal-title":"IEEE Trans. Ind. Electronics"},{"issue":"5","key":"958_CR31","doi-asserted-by":"crossref","first-page":"172988141880674","DOI":"10.1177\/1729881418806745","volume":"15","author":"Y Jiang","year":"2018","unstructured":"Jiang, Y., Guo, C., Yu, H.: Robust trajectory tracking control for an underactuated autonomous underwater vehicle based on bioinspired neurodynamics. Int. J. Adv. Robotic Syst. 15(5), 1729881418806745 (2018)","journal-title":"Int. J. Adv. Robotic Syst."},{"issue":"5","key":"958_CR32","doi-asserted-by":"publisher","first-page":"807","DOI":"10.1109\/72.159070","volume":"3","author":"LX Wang","year":"1992","unstructured":"Wang, L.X., Mendel, J.M.: Fuzzy basis functions, universal approximation, and orthogonal least-squares learning. IEEE Trans. Neural Netw. 3(5), 807\u2013814 (1992)","journal-title":"IEEE Trans. Neural Netw."},{"key":"958_CR33","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1016\/j.automatica.2004.10.006","volume":"41","author":"R Skjetne","year":"2005","unstructured":"Skjetne, R., Fossen, T.I., Kokotovic, P.V.: Adaptive maneuvering with experiments for a model ship in a marine control laboratory. Automatica 41, 289\u2013298 (2005)","journal-title":"Automatica"}],"container-title":["International Journal of Fuzzy Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40815-020-00958-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40815-020-00958-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40815-020-00958-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,15]],"date-time":"2024-08-15T22:36:02Z","timestamp":1723761362000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40815-020-00958-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,14]]},"references-count":33,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2020,11]]}},"alternative-id":["958"],"URL":"https:\/\/doi.org\/10.1007\/s40815-020-00958-y","relation":{},"ISSN":["1562-2479","2199-3211"],"issn-type":[{"value":"1562-2479","type":"print"},{"value":"2199-3211","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,10,14]]},"assertion":[{"value":"22 April 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 June 2020","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 September 2020","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 October 2020","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}