{"id":"https://openalex.org/W2144321167","doi":"https://doi.org/10.1109/tvt.2003.816611","title":"One-layer neural-network controller with preprocessed inputs for autonomous underwater vehicles","display_name":"One-layer neural-network controller with preprocessed inputs for autonomous underwater vehicles","publication_year":2003,"publication_date":"2003-09-01","ids":{"openalex":"https://openalex.org/W2144321167","doi":"https://doi.org/10.1109/tvt.2003.816611","mag":"2144321167"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2003.816611","doi":"https://doi.org/10.1109/tvt.2003.816611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2003.816611","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-a","jufo-3","ki-jl-1","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078910343","display_name":"S. Jagannathan","orcid":"https://orcid.org/0000-0002-2310-3737","observed_orcids":["https://orcid.org/0000-0002-2310-3737"]},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]},{"id":"https://openalex.org/I4405269670","display_name":"Intelligent Systems Center","ror":"https://ror.org/04wg2aj17","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405269670"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Jagannathan","raw_affiliation_strings":["Intelligent Systems Center, Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA","Dept. of Electr. & Comput. Eng, Missouri Univ., Rolla, MO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Center, Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA","institution_ids":["https://openalex.org/I20382870","https://openalex.org/I4405269670"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng, Missouri Univ., Rolla, MO, USA","institution_ids":["https://openalex.org/I20382870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028715440","display_name":"G. Galan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]},{"id":"https://openalex.org/I4405269670","display_name":"Intelligent Systems Center","ror":"https://ror.org/04wg2aj17","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405269670"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Galan","raw_affiliation_strings":["Intelligent Systems Center, Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA","Dept. of Electr. & Comput. Eng, Missouri Univ., Rolla, MO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Center, Department of Electrical and Computer Engineering, University of Missouri, Rolla, Rolla, MO, USA","institution_ids":["https://openalex.org/I20382870","https://openalex.org/I4405269670"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng, Missouri Univ., Rolla, MO, USA","institution_ids":["https://openalex.org/I20382870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.269,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.81611261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"52","issue":"5","first_page":"1342","last_page":"1355"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.000699999975040555,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.000699999975040555,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-underwater-vehicles","display_name":"autonomous underwater vehicles","score":0.9959999918937683},{"id":"https://openalex.org/keywords/input-preprocessing","display_name":"input preprocessing","score":0.6660000085830688},{"id":"https://openalex.org/keywords/trajectory-tracking-control","display_name":"trajectory tracking control","score":0.8640000224113464},{"id":"https://openalex.org/keywords/ocean-current-disturbance","display_name":"ocean current disturbance","score":0.6290000081062317},{"id":"https://openalex.org/keywords/wave-disturbance","display_name":"wave disturbance","score":0.8629999756813049},{"id":"https://openalex.org/keywords/uniform-ultimate-boundedness","display_name":"uniform ultimate boundedness","score":0.8550000190734863},{"id":"https://openalex.org/keywords/asymptotic-stability","display_name":"asymptotic stability","score":0.9580000042915344}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7652822136878967},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7270038723945618},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6579134464263916},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6000503301620483},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5780372023582458},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5770094394683838},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.481356680393219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46611669659614563},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.4455665349960327},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43065330386161804},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4235064685344696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38625600934028625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3685295581817627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31258532404899597},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17264199256896973},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2003.816611","doi":"https://doi.org/10.1109/tvt.2003.816611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2003.816611","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-a","jufo-3","ki-jl-1","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1517236425","https://openalex.org/W1571211868","https://openalex.org/W1576537049","https://openalex.org/W1584456261","https://openalex.org/W1590684588","https://openalex.org/W1902044805","https://openalex.org/W1908224568","https://openalex.org/W1937654039","https://openalex.org/W1944731880","https://openalex.org/W2018869705","https://openalex.org/W2122075174","https://openalex.org/W2140981726","https://openalex.org/W2166367135","https://openalex.org/W2295873545"],"related_works":["https://openalex.org/W2002022219","https://openalex.org/W2223760982","https://openalex.org/W2318112043","https://openalex.org/W1514013046","https://openalex.org/W1993377306","https://openalex.org/W2890653409","https://openalex.org/W2105361895","https://openalex.org/W2364352253","https://openalex.org/W2006175845","https://openalex.org/W4376631380"],"abstract_inverted_index":{"Navigating,":[0],"guiding,":[1],"and":[2,10,32,34,75,83,116,132],"controlling":[3],"autonomous":[4,16],"underwater":[5,42],"vehicles":[6,24,39],"(AUVs)":[7],"are":[8,120,139],"challenging":[9],"difficult":[11],"tasks":[12],"compared":[13],"to":[14,58],"the":[15,20,26,41,60,78,90,98,108,113,147,154,158,170],"surface-level":[17],"operations.":[18],"Controlling":[19],"motion":[21],"of":[22,28,72,80,100,112,146,157],"such":[23],"require":[25,126],"estimation":[27],"unknown":[29,81],"hydrodynamic":[30],"forces":[31],"moments":[33],"disturbances":[35,82],"acting":[36],"on":[37],"these":[38],"in":[40,70],"environment.":[43],"In":[44,77,97],"this":[45],"paper,":[46],"a":[47,64,143],"one-layer":[48],"neural-network":[49],"(NN)":[50],"controller":[51,160],"with":[52],"preprocessed":[53],"input":[54],"signals":[55],"is":[56,68,87,94,135],"designed":[57],"control":[59],"vehicle":[61],"track":[62],"along":[63],"desired":[65,73],"trajectory,":[66],"which":[67],"specified":[69],"terms":[71],"position":[74],"attitude.":[76],"absence":[79],"modeling":[84],"errors,":[85],"it":[86],"shown":[88,140],"that":[89],"tracking":[91,114],"error":[92,115],"system":[93],"asymptotically":[95],"stable.":[96],"presence":[99],"any":[101],"bounded":[102],"ocean":[103],"currents":[104],"or":[105],"wave":[106],"disturbances,":[107],"uniformly":[109],"ultimately":[110],"boundedness":[111],"NN":[117,123,159,166],"weight":[118,133],"estimates":[119],"given.":[121],"The":[122],"does":[124],"not":[125],"an":[127],"initial":[128],"offline":[129,165],"training":[130,167],"phase":[131],"initialization":[134],"straightforward.":[136],"Simulation":[137],"results":[138],"by":[141],"using":[142],"scaled":[144],"version":[145],"Naval":[148],"Post-Graduate":[149],"School's":[150],"AUV.":[151],"Results":[152],"indicate":[153],"superior":[155],"performance":[156],"over":[161],"conventional":[162],"controllers.":[163],"Providing":[164],"may":[168],"improve":[169],"transient":[171],"performance.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2016-06-24T00:00:00"}
