A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles
This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with dist...
Ausführliche Beschreibung
Autor*in: |
Xiao Liang [verfasserIn] Xingru Qu [verfasserIn] Ning Wang [verfasserIn] Ye Li [verfasserIn] Rubo Zhang [verfasserIn] |
---|
Format: |
E-Artikel |
---|---|
Sprache: |
Englisch |
Erschienen: |
2019 |
---|
Schlagwörter: |
---|
Übergeordnetes Werk: |
In: IEEE Access - IEEE, 2014, 7(2019), Seite 112703-112712 |
---|---|
Übergeordnetes Werk: |
volume:7 ; year:2019 ; pages:112703-112712 |
Links: |
---|
DOI / URN: |
10.1109/ACCESS.2019.2934190 |
---|
Katalog-ID: |
DOAJ033508259 |
---|
LEADER | 01000caa a22002652 4500 | ||
---|---|---|---|
001 | DOAJ033508259 | ||
003 | DE-627 | ||
005 | 20230307180717.0 | ||
007 | cr uuu---uuuuu | ||
008 | 230226s2019 xx |||||o 00| ||eng c | ||
024 | 7 | |a 10.1109/ACCESS.2019.2934190 |2 doi | |
035 | |a (DE-627)DOAJ033508259 | ||
035 | |a (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 | ||
040 | |a DE-627 |b ger |c DE-627 |e rakwb | ||
041 | |a eng | ||
050 | 0 | |a TK1-9971 | |
100 | 0 | |a Xiao Liang |e verfasserin |4 aut | |
245 | 1 | 2 | |a A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles |
264 | 1 | |c 2019 | |
336 | |a Text |b txt |2 rdacontent | ||
337 | |a Computermedien |b c |2 rdamedia | ||
338 | |a Online-Ressource |b cr |2 rdacarrier | ||
520 | |a This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. | ||
650 | 4 | |a Unmanned marine vehicles | |
650 | 4 | |a swarm control | |
650 | 4 | |a velocity observer | |
650 | 4 | |a center-of-swarm guidance | |
650 | 4 | |a fuzzy sliding mode | |
653 | 0 | |a Electrical engineering. Electronics. Nuclear engineering | |
700 | 0 | |a Xingru Qu |e verfasserin |4 aut | |
700 | 0 | |a Ning Wang |e verfasserin |4 aut | |
700 | 0 | |a Ye Li |e verfasserin |4 aut | |
700 | 0 | |a Rubo Zhang |e verfasserin |4 aut | |
773 | 0 | 8 | |i In |t IEEE Access |d IEEE, 2014 |g 7(2019), Seite 112703-112712 |w (DE-627)728440385 |w (DE-600)2687964-5 |x 21693536 |7 nnns |
773 | 1 | 8 | |g volume:7 |g year:2019 |g pages:112703-112712 |
856 | 4 | 0 | |u https://doi.org/10.1109/ACCESS.2019.2934190 |z kostenfrei |
856 | 4 | 0 | |u https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 |z kostenfrei |
856 | 4 | 0 | |u https://ieeexplore.ieee.org/document/8793071/ |z kostenfrei |
856 | 4 | 2 | |u https://doaj.org/toc/2169-3536 |y Journal toc |z kostenfrei |
912 | |a GBV_USEFLAG_A | ||
912 | |a SYSFLAG_A | ||
912 | |a GBV_DOAJ | ||
912 | |a GBV_ILN_11 | ||
912 | |a GBV_ILN_20 | ||
912 | |a GBV_ILN_22 | ||
912 | |a GBV_ILN_23 | ||
912 | |a GBV_ILN_24 | ||
912 | |a GBV_ILN_31 | ||
912 | |a GBV_ILN_39 | ||
912 | |a GBV_ILN_40 | ||
912 | |a GBV_ILN_60 | ||
912 | |a GBV_ILN_62 | ||
912 | |a GBV_ILN_63 | ||
912 | |a GBV_ILN_65 | ||
912 | |a GBV_ILN_69 | ||
912 | |a GBV_ILN_70 | ||
912 | |a GBV_ILN_73 | ||
912 | |a GBV_ILN_95 | ||
912 | |a GBV_ILN_105 | ||
912 | |a GBV_ILN_110 | ||
912 | |a GBV_ILN_151 | ||
912 | |a GBV_ILN_161 | ||
912 | |a GBV_ILN_170 | ||
912 | |a GBV_ILN_213 | ||
912 | |a GBV_ILN_230 | ||
912 | |a GBV_ILN_285 | ||
912 | |a GBV_ILN_293 | ||
912 | |a GBV_ILN_370 | ||
912 | |a GBV_ILN_602 | ||
912 | |a GBV_ILN_2014 | ||
912 | |a GBV_ILN_4012 | ||
912 | |a GBV_ILN_4037 | ||
912 | |a GBV_ILN_4112 | ||
912 | |a GBV_ILN_4125 | ||
912 | |a GBV_ILN_4126 | ||
912 | |a GBV_ILN_4249 | ||
912 | |a GBV_ILN_4305 | ||
912 | |a GBV_ILN_4306 | ||
912 | |a GBV_ILN_4307 | ||
912 | |a GBV_ILN_4313 | ||
912 | |a GBV_ILN_4322 | ||
912 | |a GBV_ILN_4323 | ||
912 | |a GBV_ILN_4324 | ||
912 | |a GBV_ILN_4325 | ||
912 | |a GBV_ILN_4335 | ||
912 | |a GBV_ILN_4338 | ||
912 | |a GBV_ILN_4367 | ||
912 | |a GBV_ILN_4700 | ||
951 | |a AR | ||
952 | |d 7 |j 2019 |h 112703-112712 |
author_variant |
x l xl x q xq n w nw y l yl r z rz |
---|---|
matchkey_str |
article:21693536:2019----::nvlitiueadefraiesamotofaeokoudrcut |
hierarchy_sort_str |
2019 |
callnumber-subject-code |
TK |
publishDate |
2019 |
allfields |
10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712 |
spelling |
10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712 |
allfields_unstemmed |
10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712 |
allfieldsGer |
10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712 |
allfieldsSound |
10.1109/ACCESS.2019.2934190 doi (DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 DE-627 ger DE-627 rakwb eng TK1-9971 Xiao Liang verfasserin aut A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering Xingru Qu verfasserin aut Ning Wang verfasserin aut Ye Li verfasserin aut Rubo Zhang verfasserin aut In IEEE Access IEEE, 2014 7(2019), Seite 112703-112712 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:112703-112712 https://doi.org/10.1109/ACCESS.2019.2934190 kostenfrei https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 kostenfrei https://ieeexplore.ieee.org/document/8793071/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 112703-112712 |
language |
English |
source |
In IEEE Access 7(2019), Seite 112703-112712 volume:7 year:2019 pages:112703-112712 |
sourceStr |
In IEEE Access 7(2019), Seite 112703-112712 volume:7 year:2019 pages:112703-112712 |
format_phy_str_mv |
Article |
institution |
findex.gbv.de |
topic_facet |
Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode Electrical engineering. Electronics. Nuclear engineering |
isfreeaccess_bool |
true |
container_title |
IEEE Access |
authorswithroles_txt_mv |
Xiao Liang @@aut@@ Xingru Qu @@aut@@ Ning Wang @@aut@@ Ye Li @@aut@@ Rubo Zhang @@aut@@ |
publishDateDaySort_date |
2019-01-01T00:00:00Z |
hierarchy_top_id |
728440385 |
id |
DOAJ033508259 |
language_de |
englisch |
fullrecord |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ033508259</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230307180717.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230226s2019 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1109/ACCESS.2019.2934190</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ033508259</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJe9081a1a15714c7f86a5fe3554139547</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TK1-9971</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Xiao Liang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="2"><subfield code="a">A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2019</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Unmanned marine vehicles</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">swarm control</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">velocity observer</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">center-of-swarm guidance</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">fuzzy sliding mode</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Electrical engineering. Electronics. Nuclear engineering</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xingru Qu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Ning Wang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Ye Li</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Rubo Zhang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">IEEE Access</subfield><subfield code="d">IEEE, 2014</subfield><subfield code="g">7(2019), Seite 112703-112712</subfield><subfield code="w">(DE-627)728440385</subfield><subfield code="w">(DE-600)2687964-5</subfield><subfield code="x">21693536</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:7</subfield><subfield code="g">year:2019</subfield><subfield code="g">pages:112703-112712</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.1109/ACCESS.2019.2934190</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://ieeexplore.ieee.org/document/8793071/</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/2169-3536</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_11</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_31</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">7</subfield><subfield code="j">2019</subfield><subfield code="h">112703-112712</subfield></datafield></record></collection>
|
callnumber-first |
T - Technology |
author |
Xiao Liang |
spellingShingle |
Xiao Liang misc TK1-9971 misc Unmanned marine vehicles misc swarm control misc velocity observer misc center-of-swarm guidance misc fuzzy sliding mode misc Electrical engineering. Electronics. Nuclear engineering A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles |
authorStr |
Xiao Liang |
ppnlink_with_tag_str_mv |
@@773@@(DE-627)728440385 |
format |
electronic Article |
delete_txt_mv |
keep |
author_role |
aut aut aut aut aut |
collection |
DOAJ |
remote_str |
true |
callnumber-label |
TK1-9971 |
illustrated |
Not Illustrated |
issn |
21693536 |
topic_title |
TK1-9971 A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles Unmanned marine vehicles swarm control velocity observer center-of-swarm guidance fuzzy sliding mode |
topic |
misc TK1-9971 misc Unmanned marine vehicles misc swarm control misc velocity observer misc center-of-swarm guidance misc fuzzy sliding mode misc Electrical engineering. Electronics. Nuclear engineering |
topic_unstemmed |
misc TK1-9971 misc Unmanned marine vehicles misc swarm control misc velocity observer misc center-of-swarm guidance misc fuzzy sliding mode misc Electrical engineering. Electronics. Nuclear engineering |
topic_browse |
misc TK1-9971 misc Unmanned marine vehicles misc swarm control misc velocity observer misc center-of-swarm guidance misc fuzzy sliding mode misc Electrical engineering. Electronics. Nuclear engineering |
format_facet |
Elektronische Aufsätze Aufsätze Elektronische Ressource |
format_main_str_mv |
Text Zeitschrift/Artikel |
carriertype_str_mv |
cr |
hierarchy_parent_title |
IEEE Access |
hierarchy_parent_id |
728440385 |
hierarchy_top_title |
IEEE Access |
isfreeaccess_txt |
true |
familylinks_str_mv |
(DE-627)728440385 (DE-600)2687964-5 |
title |
A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles |
ctrlnum |
(DE-627)DOAJ033508259 (DE-599)DOAJe9081a1a15714c7f86a5fe3554139547 |
title_full |
A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles |
author_sort |
Xiao Liang |
journal |
IEEE Access |
journalStr |
IEEE Access |
callnumber-first-code |
T |
lang_code |
eng |
isOA_bool |
true |
recordtype |
marc |
publishDateSort |
2019 |
contenttype_str_mv |
txt |
container_start_page |
112703 |
author_browse |
Xiao Liang Xingru Qu Ning Wang Ye Li Rubo Zhang |
container_volume |
7 |
class |
TK1-9971 |
format_se |
Elektronische Aufsätze |
author-letter |
Xiao Liang |
doi_str_mv |
10.1109/ACCESS.2019.2934190 |
author2-role |
verfasserin |
title_sort |
novel distributed and self-organized swarm control framework for underactuated unmanned marine vehicles |
callnumber |
TK1-9971 |
title_auth |
A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles |
abstract |
This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. |
abstractGer |
This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. |
abstract_unstemmed |
This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework. |
collection_details |
GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 |
title_short |
A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles |
url |
https://doi.org/10.1109/ACCESS.2019.2934190 https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547 https://ieeexplore.ieee.org/document/8793071/ https://doaj.org/toc/2169-3536 |
remote_bool |
true |
author2 |
Xingru Qu Ning Wang Ye Li Rubo Zhang |
author2Str |
Xingru Qu Ning Wang Ye Li Rubo Zhang |
ppnlink |
728440385 |
callnumber-subject |
TK - Electrical and Nuclear Engineering |
mediatype_str_mv |
c |
isOA_txt |
true |
hochschulschrift_bool |
false |
doi_str |
10.1109/ACCESS.2019.2934190 |
callnumber-a |
TK1-9971 |
up_date |
2024-07-03T18:08:59.167Z |
_version_ |
1803582323210321920 |
fullrecord_marcxml |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">DOAJ033508259</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230307180717.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230226s2019 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1109/ACCESS.2019.2934190</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)DOAJ033508259</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DOAJe9081a1a15714c7f86a5fe3554139547</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TK1-9971</subfield></datafield><datafield tag="100" ind1="0" ind2=" "><subfield code="a">Xiao Liang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="2"><subfield code="a">A Novel Distributed and Self-Organized Swarm Control Framework for Underactuated Unmanned Marine Vehicles</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2019</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">This paper presents a novel swarm control framework for path following of multiple underactuated unmanned marine vehicles (UMVs) with uncertain dynamics and unmeasured velocities. Main contributions are as follows: (1) unlike previous master-slave formation control, a swarm system function with distributed and self-organized capability is designed; (2) a center-of-swarm (COS) guidance scheme without vehicle number constraints is proposed for swarm path following, where an improved artificial potential field (APF) using ring-shaped repulsion is further employed for collision avoidance and obstacle avoidance; (3) a nonlinear velocity observer is incorporated into the proposed swarm control framework to estimate the unmeasured velocities, thereby contributing to robust controllers based on fuzzy sliding mode against uncertain dynamics and time-varying disturbances. Simulations are carried out to illustrate the universal applicability and effectiveness of the proposed swarm control framework.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Unmanned marine vehicles</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">swarm control</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">velocity observer</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">center-of-swarm guidance</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">fuzzy sliding mode</subfield></datafield><datafield tag="653" ind1=" " ind2="0"><subfield code="a">Electrical engineering. Electronics. Nuclear engineering</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Xingru Qu</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Ning Wang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Ye Li</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="0" ind2=" "><subfield code="a">Rubo Zhang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">IEEE Access</subfield><subfield code="d">IEEE, 2014</subfield><subfield code="g">7(2019), Seite 112703-112712</subfield><subfield code="w">(DE-627)728440385</subfield><subfield code="w">(DE-600)2687964-5</subfield><subfield code="x">21693536</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:7</subfield><subfield code="g">year:2019</subfield><subfield code="g">pages:112703-112712</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doi.org/10.1109/ACCESS.2019.2934190</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://doaj.org/article/e9081a1a15714c7f86a5fe3554139547</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://ieeexplore.ieee.org/document/8793071/</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">https://doaj.org/toc/2169-3536</subfield><subfield code="y">Journal toc</subfield><subfield code="z">kostenfrei</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_DOAJ</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_11</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_20</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_22</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_23</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_24</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_31</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_39</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_40</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_60</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_62</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_63</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_65</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_69</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_73</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_95</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_105</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_110</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_151</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_161</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_170</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_213</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_230</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_285</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_293</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_370</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_602</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2014</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4012</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4037</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4112</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4125</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4126</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4249</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4305</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4306</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4307</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4313</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4322</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4323</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4324</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4325</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4335</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4338</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4367</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_4700</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">7</subfield><subfield code="j">2019</subfield><subfield code="h">112703-112712</subfield></datafield></record></collection>
|
score |
7.401185 |