{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T09:33:15Z","timestamp":1774949595857,"version":"3.50.1"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2023,3,21]],"date-time":"2023-03-21T00:00:00Z","timestamp":1679356800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,3,21]],"date-time":"2023-03-21T00:00:00Z","timestamp":1679356800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"National Science and Technology Council of Republic of China","award":["MOST111-2221-E-019-075"],"award-info":[{"award-number":["MOST111-2221-E-019-075"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int. J. Fuzzy Syst."],"published-print":{"date-parts":[[2023,7]]},"DOI":"10.1007\/s40815-023-01479-0","type":"journal-article","created":{"date-parts":[[2023,3,21]],"date-time":"2023-03-21T03:02:50Z","timestamp":1679367770000},"page":"1782-1794","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Fuzzy Steering Control for T-S Fuzzy Model-Based Multiple Ship Systems Subject to Formation and Containment"],"prefix":"10.1007","volume":"25","author":[{"given":"Yann-Horng","family":"Lin","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5054-8451","authenticated-orcid":false,"given":"Wen-Jer","family":"Chang","sequence":"additional","affiliation":[]},{"given":"Chin-Lin","family":"Pen","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,3,21]]},"reference":[{"issue":"1","key":"1479_CR1","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1007\/s10514-015-9429-0","volume":"39","author":"J Alonso-Mora","year":"2015","unstructured":"Alonso-Mora, J., Naegeli, T., Siegwart, R., Beardsley, P.: Collision avoidance for aerial vehicles in multi-agent scenarios. Auton. Robot. 39(1), 101\u2013121 (2015)","journal-title":"Auton. Robot."},{"issue":"8","key":"1479_CR2","doi-asserted-by":"publisher","first-page":"1365","DOI":"10.1109\/JAS.2021.1004078","volume":"8","author":"Z Du","year":"2021","unstructured":"Du, Z., Negenborn, R.R., Reppa, V.: Cooperative multi-agent control for autonomous ship towing under environmental disturbances. IEEE\/CAA J. Autom. Sin. 8(8), 1365\u20131379 (2021)","journal-title":"IEEE\/CAA J. Autom. Sin."},{"issue":"11","key":"1479_CR3","doi-asserted-by":"publisher","first-page":"1314","DOI":"10.3390\/jmse9111314","volume":"9","author":"K Xue","year":"2021","unstructured":"Xue, K., Wu, T.: Distributed consensus of USVs under heterogeneous UAV-USV multi-agent systems cooperative control scheme. J. Marine Sci. Eng. 9(11), 1314 (2021)","journal-title":"J. Marine Sci. Eng."},{"issue":"1511","key":"1479_CR4","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1098\/rspb.2002.2210","volume":"270","author":"ID Couzin","year":"2003","unstructured":"Couzin, I.D., Franks, N.R.: Self-organized lane formation and optimized traffic flow in army ants. Proc. R. Soc. Lond. B 270(1511), 139\u2013146 (2003)","journal-title":"Proc. R. Soc. Lond. B"},{"issue":"3","key":"1479_CR5","doi-asserted-by":"publisher","first-page":"277","DOI":"10.1017\/S0269888901000170","volume":"16","author":"E Alonso","year":"2001","unstructured":"Alonso, E., d\u2019Inverno, M., Kudenko, D., Luck, M., Noble, J.: Learning in multi-agent systems. Knowl. Eng. Rev. 16(3), 277\u2013284 (2001)","journal-title":"Knowl. Eng. Rev."},{"issue":"2","key":"1479_CR6","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1109\/MCS.2007.338264","volume":"27","author":"W Ren","year":"2007","unstructured":"Ren, W., Beard, R.W., Atkins, E.M.: Information consensus in multivehicle cooperative control. IEEE Control Syst. Mag. 27(2), 71\u201382 (2007)","journal-title":"IEEE Control Syst. Mag."},{"issue":"21","key":"1479_CR7","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/S1474-6670(17)37044-1","volume":"33","author":"TI Fossen","year":"2000","unstructured":"Fossen, T.I.: A survey on nonlinear ship control: From theory to practice. IFAC Proc. Volumes 33(21), 1\u201316 (2000)","journal-title":"IFAC Proc. Volumes"},{"key":"1479_CR8","doi-asserted-by":"publisher","first-page":"270","DOI":"10.1016\/j.oceaneng.2019.04.085","volume":"183","author":"Z Wang","year":"2019","unstructured":"Wang, Z., Zou, Z., Soares, C.G.: Identification of ship manoeuvring motion based on nu-support vector machine. Ocean Eng. 183, 270\u2013281 (2019)","journal-title":"Ocean Eng."},{"issue":"8","key":"1479_CR9","doi-asserted-by":"publisher","first-page":"1079","DOI":"10.1049\/iet-cta.2012.0765","volume":"7","author":"Z Peng","year":"2013","unstructured":"Peng, Z., Wang, D., Zhang, H., Sun, G., Wang, H.: Distributed model reference adaptive control for cooperative tracking of uncertain dynamical multi-agent systems. IEE Control Theory Appl. 7(8), 1079\u20131087 (2013)","journal-title":"IEE Control Theory Appl."},{"issue":"1","key":"1479_CR10","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1109\/91.481841","volume":"4","author":"HO Wang","year":"1996","unstructured":"Wang, H.O., Tanaka, K., Griffin, M.F.: An approach to fuzzy control of nonlinear systems: stability and design issues. IEEE Trans. Fuzzy Syst. 4(1), 14\u201323 (1996)","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"1479_CR11","doi-asserted-by":"publisher","first-page":"3349","DOI":"10.1007\/s40815-022-01369-x","volume":"24","author":"CC Ku","year":"2022","unstructured":"Ku, C.C., Chang, W.J., Huang, Y.M.: Robust observer-based fuzzy control via proportional derivative feedback method for singular Takagi-Sugeno fuzzy systems. Int. J. Fuzzy Syst. 24, 3349\u20133365 (2022)","journal-title":"Int. J. Fuzzy Syst."},{"issue":"7","key":"1479_CR12","doi-asserted-by":"publisher","first-page":"1972","DOI":"10.1007\/s40815-021-01096-9","volume":"23","author":"WJ Chang","year":"2021","unstructured":"Chang, W.J., Lian, K.Y., Su, C.L., Tsai, M.H.: Multi-constrained fuzzy control for perturbed T-S fuzzy singular systems by proportional-plus-derivative state feedback method. Int. J. Fuzzy Syst. 23(7), 1972\u20131985 (2021)","journal-title":"Int. J. Fuzzy Syst."},{"key":"1479_CR13","doi-asserted-by":"publisher","first-page":"28656","DOI":"10.1109\/ACCESS.2022.3158671","volume":"10","author":"WJ Chang","year":"2022","unstructured":"Chang, W.J., Su, C.L., Ku, C.C.: Passive decentralized fuzzy control for Takagi-Sugeno fuzzy model based large-scale descriptor systems. IEEE Access 10, 28656\u201328669 (2022)","journal-title":"IEEE Access"},{"issue":"10","key":"1479_CR14","doi-asserted-by":"publisher","first-page":"2677","DOI":"10.1007\/s12555-018-0917-9","volume":"17","author":"WJ Chang","year":"2019","unstructured":"Chang, W.J., Lin, Y.H., Du, J., Chang, C.M.: Fuzzy control with pole assignment and variance constraints for continuous-time perturbed Takagi-Sugeno fuzzy models: application to ship steering systems. Int. J. Control Autom. Syst. 17(10), 2677\u20132692 (2019)","journal-title":"Int. J. Control Autom. Syst."},{"key":"1479_CR15","doi-asserted-by":"crossref","unstructured":"Chang, W.J., Huang, B.J.: Variance and passivity constrained fuzzy control for nonlinear ship steering systems with state multiplicative noises. In: Mathematical Problems in Engineering (2013).","DOI":"10.1155\/2013\/687317"},{"issue":"5","key":"1479_CR16","doi-asserted-by":"publisher","first-page":"823","DOI":"10.3390\/pr9050823","volume":"9","author":"WJ Chang","year":"2021","unstructured":"Chang, W.J., Lin, Y.W., Lin, Y.H., Pen, C.L., Tsai, M.H.: Actuator saturated fuzzy controller design for interval type-2 Takagi-Sugeno fuzzy models with multiplicative noises. Processes 9(5), 823 (2021)","journal-title":"Processes"},{"issue":"2","key":"1479_CR17","doi-asserted-by":"publisher","first-page":"598","DOI":"10.1007\/s12555-014-0349-0","volume":"14","author":"H Kim","year":"2016","unstructured":"Kim, H., Kim, D., Kim, H., Shin, J.U., Myung, H.: An extended any-angle path planning algorithm for maintaining formation of multi-agent jellyfish elimination robot system. Int. J. Control Autom. Syst. 14(2), 598\u2013607 (2016)","journal-title":"Int. J. Control Autom. Syst."},{"issue":"11","key":"1479_CR18","doi-asserted-by":"publisher","first-page":"3243","DOI":"10.1109\/TCYB.2018.2794968","volume":"48","author":"T Li","year":"2018","unstructured":"Li, T., Zhao, R., Chen, C.P., Fang, L., Liu, C.: Finite-time formation control of under-actuated ships using nonlinear sliding mode control. IEEE Trans Cybern 48(11), 3243\u20133253 (2018)","journal-title":"IEEE Trans Cybern"},{"issue":"2","key":"1479_CR19","doi-asserted-by":"publisher","first-page":"1026","DOI":"10.1109\/TMECH.2016.2632304","volume":"22","author":"Z Peng","year":"2016","unstructured":"Peng, Z., Wang, J., Wang, D.: Containment maneuvering of marine surface vehicles with multiple parameterized paths via spatial-temporal decoupling. IEEE\/ASME Trans. Mechatron. 22(2), 1026\u20131036 (2016)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"1479_CR20","doi-asserted-by":"crossref","unstructured":"Wu, W., Tong, S.: Fixed-time adaptive fuzzy containment dynamic surface control for nonlinear multi-agent systems. In: IEEE Transactions on Fuzzy Systems, Early Access (2022).","DOI":"10.1109\/TFUZZ.2022.3170984"},{"issue":"6","key":"1479_CR21","doi-asserted-by":"publisher","first-page":"1216","DOI":"10.3390\/pr10061216","volume":"10","author":"YH Lin","year":"2022","unstructured":"Lin, Y.H., Chang, W.J., Ku, C.C.: Solving formation and containment control problem of nonlinear multi-boiler systems based on interval type-2 Takagi-Sugeno fuzzy models. Processes 10(6), 1216 (2022)","journal-title":"Processes"},{"key":"1479_CR22","doi-asserted-by":"crossref","unstructured":"F. Zheng, Q. G. Wang, T. H. Lee and X. Huang, \u201cRobust PI controller design for nonlinear systems via fuzzy modeling approach,\u201d IEEE Transactions on Systems, Man, and Cybernetics \u2013 Part A: Systems and Humans, Vol. 31, No. 6, pp. 666\u2013675, 2001.","DOI":"10.1109\/3468.983422"},{"issue":"5","key":"1479_CR23","doi-asserted-by":"publisher","first-page":"856","DOI":"10.1109\/87.865859","volume":"8","author":"KY Pettersen","year":"2000","unstructured":"Pettersen, K.Y., Fossen, T.I.: Underactuated dynamic positioning of a ship-experimental results. IEEE Trans. Control Syst. Technol. 8(5), 856\u2013863 (2000)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"2","key":"1479_CR24","doi-asserted-by":"publisher","first-page":"518","DOI":"10.1007\/s40815-018-0555-7","volume":"21","author":"CM Chang","year":"2019","unstructured":"Chang, C.M., Chang, W.J.: Robust fuzzy control with transient and steady-state performance constraints for ship fin stabilizing systems. Int. J. Fuzzy Syst. 21(2), 518\u2013531 (2019)","journal-title":"Int. J. Fuzzy Syst."},{"issue":"1","key":"1479_CR25","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1007\/s00773-020-00731-8","volume":"26","author":"WJ Chang","year":"2021","unstructured":"Chang, W.J., Chang, C.M., Lin, Y.H., Du, J.: Discrete-time robust fuzzy control synthesis for discretized and perturbed ship fin stabilizing systems subject to variance and pole location constraints. J. Mar. Sci. Technol. 26(1), 201\u2013215 (2021)","journal-title":"J. Mar. Sci. Technol."},{"issue":"3","key":"1479_CR26","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1007\/s007730050014","volume":"4","author":"TN Wu","year":"1999","unstructured":"Wu, T.N., Guo, J., Chen, Y.N., Chen, W.C.: Control system design and performance evaluation of anti-pitching fins. J. Mar. Sci. Technol. 4(3), 117\u2013122 (1999)","journal-title":"J. Mar. Sci. Technol."},{"issue":"4","key":"1479_CR27","doi-asserted-by":"publisher","first-page":"409","DOI":"10.1016\/j.ijnaoe.2016.05.004","volume":"8","author":"BR Reguram","year":"2016","unstructured":"Reguram, B.R., Surendran, S., Lee, S.K.: Application of fin system to reduce pitch motion. Int. J. Naval Archit. Ocean Eng. 8(4), 409\u2013421 (2016)","journal-title":"Int. J. Naval Archit. Ocean Eng."},{"key":"1479_CR28","doi-asserted-by":"publisher","first-page":"212","DOI":"10.1016\/j.oceaneng.2018.06.014","volume":"164","author":"L Huang","year":"2018","unstructured":"Huang, L., Han, Y., Duan, W., Zheng, Y., Ma, S.: Ship pitch-roll stabilization by active fins using a controller based on onboard hydrodynamic prediction. Ocean Eng. 164, 212\u2013227 (2018)","journal-title":"Ocean Eng."},{"key":"1479_CR29","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2020.108537","volume":"221","author":"SD Lee","year":"2021","unstructured":"Lee, S.D., You, S.S., Xu, X., Cuong, T.N.: Active control synthesis of nonlinear pitch-roll motions for marine vessels. Ocean Eng. 221, 108537 (2021)","journal-title":"Ocean Eng."},{"key":"1479_CR30","volume-title":"Guidance and Control of Ocean Vehicles","author":"TI Fossen","year":"1994","unstructured":"Fossen, T.I.: Guidance and Control of Ocean Vehicles. Wiley, New York (1994)"},{"key":"1479_CR31","doi-asserted-by":"crossref","unstructured":"Caccia, M., Bibuli, M., Bono, R., Bruzzone, Ga., Bruzzone, Gi., Spirandelli, E.: Aluminum hull USV for coastal water and seafloor monitoring. In: Proceedings of OCEANS\u2014Europe, pp. 1\u20135 (2009).","DOI":"10.1109\/OCEANSE.2009.5278309"},{"issue":"3","key":"1479_CR32","doi-asserted-by":"publisher","first-page":"12174","DOI":"10.3182\/20140824-6-ZA-1003.02362","volume":"47","author":"HNH Oh","year":"2014","unstructured":"Oh, H.N.H., Tsourdos, A., Savvaris, A.: Development of collision avoidance algorithms for the c-enduro usv. IFAC Proc. Vol. 47(3), 12174\u201312181 (2014)","journal-title":"IFAC Proc. Vol."},{"issue":"1","key":"1479_CR33","doi-asserted-by":"publisher","first-page":"150","DOI":"10.1007\/s11804-014-1224-3","volume":"13","author":"T Phanthong","year":"2014","unstructured":"Phanthong, T., Maki, T., Ura, T., Sakamaki, T., Aiyarak, P.: Application of A* algorithm for real-time path re-planning of an unmanned surface vehicle avoiding underwater obstacles. J. Mar. Sci. Appl. 13(1), 150\u2013116 (2014)","journal-title":"J. Mar. Sci. Appl."},{"key":"1479_CR34","doi-asserted-by":"crossref","unstructured":"Sarda, E.I., Bertaska, I.R., Qu, A., von Ellenrieder, K.D.: Development of a USV station-keeping controller. In: Proceedings of OCEANS\u2014Genova, pp. 1\u201310 (2015).","DOI":"10.1109\/OCEANS-Genova.2015.7271425"},{"key":"1479_CR35","doi-asserted-by":"crossref","unstructured":"Dufek, J., Murphy, R.: Visual pose estimation of USV from UAV to assist drowning victims recovery. In: Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics, pp. 147\u2013153 (2016).","DOI":"10.1109\/SSRR.2016.7784291"},{"issue":"16","key":"1479_CR36","doi-asserted-by":"publisher","first-page":"188","DOI":"10.1016\/j.ifacol.2021.10.092","volume":"54","author":"A Dallolio","year":"2021","unstructured":"Dallolio, A., Alfredsen, J.A., Fossen, T.I., Johansen, T.A.: Experimental validation of a nonlinear wave encounter frequency estimator onboard a wave-propelled USV. IFAC-PapersOnLine 54(16), 188\u2013194 (2021)","journal-title":"IFAC-PapersOnLine"},{"issue":"4","key":"1479_CR37","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1007\/s11804-010-1033-2","volume":"9","author":"RJ Yan","year":"2010","unstructured":"Yan, R.J., Pang, S., Sun, H.B., Pang, Y.J.: Development and missions of unmanned surface vehicle. J. Mar. Sci. Appl. 9(4), 451\u2013457 (2010)","journal-title":"J. Mar. Sci. Appl."},{"key":"1479_CR38","doi-asserted-by":"crossref","unstructured":"Grenestedt, J., Keller, J., Larson, S., Patterson, J., Spletzer, J., Trephan, T.: LORCA: a high performance USV with applications to surveillance and monitoring. In: Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics, pp. 1\u20136 (2015).","DOI":"10.1109\/SSRR.2015.7443020"},{"key":"1479_CR39","doi-asserted-by":"crossref","unstructured":"Xu, Z., Xiang, B., Ni, H., Zhang, D.: Containment control for fuzzy multi-agent systems subject to stochastic controller gain variation. In: Proceedings of International Conference on Information, Cybernetics, and Computational Social Systems, pp. 381\u2013386 (2018).","DOI":"10.1109\/ICCSS.2018.8572454"}],"container-title":["International Journal of Fuzzy Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40815-023-01479-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40815-023-01479-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40815-023-01479-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,23]],"date-time":"2023-06-23T20:09:45Z","timestamp":1687550985000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40815-023-01479-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,3,21]]},"references-count":39,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2023,7]]}},"alternative-id":["1479"],"URL":"https:\/\/doi.org\/10.1007\/s40815-023-01479-0","relation":{},"ISSN":["1562-2479","2199-3211"],"issn-type":[{"value":"1562-2479","type":"print"},{"value":"2199-3211","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,3,21]]},"assertion":[{"value":"5 December 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 January 2023","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 January 2023","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 March 2023","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}