{"id":"https://openalex.org/W7225734935","doi":"https://doi.org/10.3390/jmse14222134","title":"Adaptive Backstepping Control for Six-Degree-of-Freedom ROV Trajectory Tracking Under Hydrodynamic Parameter Uncertainty","display_name":"Adaptive Backstepping Control for Six-Degree-of-Freedom ROV Trajectory Tracking Under Hydrodynamic Parameter Uncertainty","publication_year":2026,"publication_date":"2026-11-10","ids":{"openalex":"https://openalex.org/W7225734935","doi":"https://doi.org/10.3390/jmse14222134"},"language":"en","primary_location":{"id":"doi:10.3390/jmse14222134","doi":"https://doi.org/10.3390/jmse14222134","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jmse14222134","pdf_url":null,"source":{"id":"https://openalex.org/S2736865057","display_name":"Journal of Marine Science and Engineering","issn_l":"2077-1312","issn":["2077-1312"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Marine Science and Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/jmse14222134","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5143550851","display_name":"Haomiao Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haomiao Yang","raw_affiliation_strings":["Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014005862","display_name":"Guanghui Chang","orcid":"https://orcid.org/0009-0003-9965-5727","observed_orcids":["https://orcid.org/0009-0003-9965-5727"]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Chang","raw_affiliation_strings":["Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072977011","display_name":"Pan Su","orcid":"https://orcid.org/0000-0002-9526-0213","observed_orcids":["https://orcid.org/0000-0002-9526-0213"]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pan Su","raw_affiliation_strings":["Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China"],"raw_orcid":"https://orcid.org/0000-0002-9526-0213","affiliations":[{"raw_affiliation_string":"Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161398455","display_name":"Yanhang He","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhang He","raw_affiliation_strings":["Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153265727","display_name":"Xincheng Dan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xincheng Shan","raw_affiliation_strings":["Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5143552735","display_name":"Jiasen Lin","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiasen Lin","raw_affiliation_strings":["Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval University of Engineering, 717 Jiefang Avenue, Qiaokou District, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2800710378"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"22","first_page":"2134","last_page":"2134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.975600004196167,"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":0.975600004196167,"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":0.02199999988079071,"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":0.0007999999797903001,"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":[],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9509000182151794},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8794999718666077},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8173999786376953},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5788000226020813},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5149999856948853},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5145000219345093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5116000175476074},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4860000014305115},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.48019999265670776},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.4011000096797943},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3774000108242035},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.36550000309944153},{"id":"https://openalex.org/C90377204","wikidata":"https://www.wikidata.org/wiki/Q1052594","display_name":"Uniform boundedness","level":3,"score":0.3449999988079071},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.33160001039505005},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3174000084400177},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27250000834465027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C85761212","wikidata":"https://www.wikidata.org/wiki/Q1974593","display_name":"Transient response","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/jmse14222134","doi":"https://doi.org/10.3390/jmse14222134","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jmse14222134","pdf_url":null,"source":{"id":"https://openalex.org/S2736865057","display_name":"Journal of Marine Science and Engineering","issn_l":"2077-1312","issn":["2077-1312"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Marine Science and Engineering","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/jmse14222134","doi":"https://doi.org/10.3390/jmse14222134","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jmse14222134","pdf_url":null,"source":{"id":"https://openalex.org/S2736865057","display_name":"Journal of Marine Science and Engineering","issn_l":"2077-1312","issn":["2077-1312"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Marine Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1975735357","https://openalex.org/W1979483959","https://openalex.org/W1984010993","https://openalex.org/W1984598383","https://openalex.org/W2031057907","https://openalex.org/W2034427367","https://openalex.org/W2036316876","https://openalex.org/W2063451289","https://openalex.org/W2086242739","https://openalex.org/W2086976905","https://openalex.org/W2103290702","https://openalex.org/W2105095180","https://openalex.org/W2109797476","https://openalex.org/W2122075174","https://openalex.org/W2125838011","https://openalex.org/W2135788701","https://openalex.org/W2142559764","https://openalex.org/W2147150927","https://openalex.org/W2153596355","https://openalex.org/W2581111877","https://openalex.org/W2937359304","https://openalex.org/W2971928143","https://openalex.org/W2981718602","https://openalex.org/W2991979141","https://openalex.org/W3009042095","https://openalex.org/W3026829485","https://openalex.org/W3043179610","https://openalex.org/W3092089064","https://openalex.org/W3093354192","https://openalex.org/W3204162114","https://openalex.org/W4248049034","https://openalex.org/W4254730509","https://openalex.org/W4289667083","https://openalex.org/W4324355178","https://openalex.org/W4361027229","https://openalex.org/W4378512794","https://openalex.org/W4387763181","https://openalex.org/W4392876858","https://openalex.org/W4403965392","https://openalex.org/W4405928327"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"six-degree-of-freedom":[3],"(6-DOF)":[4],"trajectory":[5,215],"tracking":[6,60,67,189],"of":[7,169,228,263,276],"a":[8,23,98,119,154,174,255,266,277,281,305,310],"free-swimming":[9],"remotely":[10],"operated":[11],"vehicle":[12,82,345],"(ROV)":[13],"under":[14,222,233],"hydrodynamic":[15],"parameter":[16],"uncertainty.":[17],"Four":[18],"controllers":[19],"are":[20,203],"designed":[21],"on":[22,145,205,304],"common":[24],"benchmark":[25,212],"and":[26,36,52,58,118,128,148,191,208,219,225,239,265,280,315],"compared:":[27],"cascaded":[28],"proportional\u2013integral\u2013derivative":[29],"(PID)":[30],"control,":[31,258],"whose":[32,37,73],"tuning":[33],"is":[34,40,103,231,252,286,291,317],"simple":[35],"steady-state":[38,121,188],"behaviour":[39,323],"predictable,":[41],"but":[42,72,109],"which":[43,64,102,134],"couples":[44],"the":[45,50,81,89,129,136,146,170,182,193,198,206,226,229,244,261,274,321,326,336,340],"six":[46],"channels":[47],"only":[48],"through":[49],"plant":[51],"therefore":[53],"produces":[54],"large":[55,59],"oscillatory":[56],"transients":[57],"errors;":[61],"pure":[62],"backstepping,":[63],"recovers":[65],"accurate":[66],"at":[68,260,273,309],"low":[69],"computational":[70],"cost,":[71],"constant":[74,137],"feedback":[75,143],"gains":[76,90,139,144],"must":[77],"be":[78],"re-tuned":[79],"whenever":[80],"or":[83,270],"its":[84,125,158],"operating":[85],"conditions":[86],"change,":[87],"because":[88],"have":[91],"no":[92],"mechanism":[93],"to":[94,105,157,249,296,319],"absorb":[95],"model\u2013plant":[96,171],"mismatch;":[97],"boundary-layer":[99,126],"sliding-mode":[100],"controller,":[101,133],"robust":[104],"bounded":[106],"matched":[107],"disturbances":[108],"pays":[110],"for":[111],"this":[112,332],"robustness":[113,227,248],"with":[114,140],"chattering-prone":[115],"control":[116,194,246,341],"activity":[117],"residual":[120],"error":[122,251],"set":[123],"by":[124,197,300],"thickness;":[127],"proposed":[130],"adaptive":[131,142,164,289],"backstepping":[132,138,183],"replaces":[135],"\u03c3-modified":[141],"position":[147],"velocity":[149],"errors.":[150],"The":[151,201,288],"adaptation":[152],"carries":[153],"modest":[155],"sensitivity":[156,279],"learning":[159],"rate,":[160],"and,":[161],"like":[162],"every":[163],"scheme,":[165],"it":[166,180,316],"converts":[167],"part":[168],"mismatch":[172],"into":[173],"transient":[175,184,282],"gain-learning":[176,283],"excursion;":[177],"in":[178,213],"exchange,":[179],"retains":[181],"shape":[185],"while":[186],"improving":[187],"accuracy":[190],"reducing":[192],"effort":[195],"required":[196],"fixed-gain":[199],"designs.":[200],"trade-offs":[202],"quantified":[204],"Chin":[207],"Lau":[209],"75":[210],"kg":[211],"circular":[214],"tracking,":[216],"step":[217],"response,":[218],"repeated":[220],"runs":[221],"measurement":[223],"noise,":[224],"ordering":[230],"examined":[232],"controller-side":[234],"model":[235,250],"error,":[236],"ocean":[237],"currents,":[238],"reduced":[240],"thruster":[241],"authority.":[242],"Across":[243],"four":[245],"families,":[247],"bought":[253],"either":[254],"priori":[256],"(sliding-mode":[257],"SMC,":[259],"price":[262,275],"chattering":[264],"boundary-layer-limited":[267],"nominal":[268],"accuracy)":[269],"online":[271],"(adaptation,":[272],"learning-rate":[278],"excursion);":[284],"neither":[285],"free.":[287],"controller":[290],"further":[292],"ported,":[293],"without":[294],"retuning,":[295],"C":[297],"code":[298],"generated":[299],"Embedded":[301],"Coder":[302],"running":[303],"168":[306],"MHz":[307],"STM32F407":[308],"fixed":[311],"10":[312],"ms":[313],"period,":[314],"shown":[318],"reproduce":[320],"offline":[322],"closely":[324],"within":[325],"CPU":[327],"budget,":[328],"supporting":[329],"implementation-level":[330],"feasibility;":[331],"hardware-in-the-loop":[333],"study":[334],"validates":[335],"real-time":[337],"implementation,":[338],"not":[339],"law":[342],"against":[343],"physical":[344],"dynamics.":[346]},"counts_by_year":[],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-11-11T00:00:00"}