{"id":"W2404985975","doi":"10.1109/tie.2016.2573240","title":"Robust Composite Nonlinear Feedback Path-Following Control for Underactuated Surface Vessels With Desired-Heading Amendment","year":2016,"lang":"en","type":"article","venue":"IEEE Transactions on Industrial Electronics","topic":"Adaptive Control of Nonlinear Systems","field":"Engineering","cited_by":85,"is_retracted":false,"has_abstract":true,"ca_institutions":"McMaster University","funders":"National Natural Science Foundation of China","keywords":"Control theory (sociology); Heading (navigation); Robustness (evolution); Underactuation; Nonlinear system; Yaw; Controllability; Engineering; Backstepping; Computer science; Mathematics; Robot; Control (management); Adaptive control; Artificial intelligence; Physics","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":["metaepi_narrow"],"consensus_categories":[],"category_scores_codex":[0.0003544026,0.0004693316,0.0006096133,0.0001341612,0.0002689079,0.00008623534,0.000230315,0.0003383113,0.00002620123],"category_scores_gemma":[0.00001286063,0.0003679789,0.0002483989,0.0003040487,0.00004859903,0.0003092939,8.417985e-7,0.0005706868,0.00005360933],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.001111307,"about_ca_system_score_gemma":0.0002544175,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00001275043,"about_ca_topic_score_gemma":0.00004935583,"domain_scores_codex":[0.9976575,0.0001006324,0.0005476743,0.0004369812,0.0003730835,0.0008841297],"domain_scores_gemma":[0.9985018,0.0007092176,0.0001213796,0.0003395917,0.0001268556,0.0002011247],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.001357237,0.000165041,0.00002887919,0.00002154659,0.001136763,0.00001174692,0.00006507914,0.8465687,0.140597,0.0000440549,0.0002195941,0.009784347],"study_design_scores_gemma":[0.04737137,0.003677459,0.00001204274,0.001214749,0.001206613,0.00005444532,0.0002130672,0.5910524,0.3408347,0.00005012134,0.01217805,0.002135002],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1685636,0.0001396967,0.8280767,0.0002842573,0.000995473,0.001248886,0.0002188622,0.0004264041,0.00004615581],"genre_scores_gemma":[0.996405,0.00004115489,0.002608148,0.00004664827,0.0003487534,0.0001172842,0.00001434799,0.0001649709,0.000253702],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.8278414,"threshold_uncertainty_score":0.9998772,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.0411953532582806,"score_gpt":0.2301701051226501,"score_spread":0.1889747518643695,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}