{"id":"https://openalex.org/W3209830373","doi":"https://doi.org/10.1007/s10846-021-01466-3","title":"Dynamic Motion Backstepping Control of Underwater Autonomous Vehicle Based on Averaged Sub-gradient Integral Sliding Mode Method","display_name":"Dynamic Motion Backstepping Control of Underwater Autonomous Vehicle Based on Averaged Sub-gradient Integral Sliding Mode Method","publication_year":2021,"publication_date":"2021-10-27","ids":{"openalex":"https://openalex.org/W3209830373","doi":"https://doi.org/10.1007/s10846-021-01466-3","mag":"3209830373"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-021-01466-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-021-01466-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5066965176","display_name":"Alejandra Hern\u00e1ndez-S\u00e1nchez","orcid":"https://orcid.org/0000-0002-1886-5307"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Alejandra Hernandez-Sanchez","raw_affiliation_strings":["Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079939647","display_name":"Isaac Cha\u00edrez","orcid":"https://orcid.org/0000-0002-7157-2052"},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]},{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Isaac Chairez","raw_affiliation_strings":["Bioprocesses Department, UPIBI-IPN, Mexico City, Mexico","Escuela de Ingenieria y Ciencias, Instituto Tecnol\u00f3gico de Estudios Superiores de Monterrey, Campus Guadalajara, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Bioprocesses Department, UPIBI-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"Escuela de Ingenieria y Ciencias, Instituto Tecnol\u00f3gico de Estudios Superiores de Monterrey, Campus Guadalajara, Mexico City, Mexico","institution_ids":["https://openalex.org/I98461037"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005150213","display_name":"Alexander Poznyak","orcid":"https://orcid.org/0000-0003-3493-8534"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Alexander Poznyak","raw_affiliation_strings":["Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012200905","display_name":"Olga G. Andrianova","orcid":"https://orcid.org/0000-0002-8407-1046"},"institutions":[{"id":"https://openalex.org/I4210157430","display_name":"V. A. Trapeznikov Institute of Control Sciences","ror":"https://ror.org/05f3yt521","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210157430","https://openalex.org/I4210164537"]},{"id":"https://openalex.org/I19880235","display_name":"Lomonosov Moscow State University","ror":"https://ror.org/010pmpe69","country_code":"RU","type":"education","lineage":["https://openalex.org/I19880235"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Olga Andrianova","raw_affiliation_strings":["Institute of Control Sciences RAS (or shot: ICS RAS) and Center \u201cSupersonic\u201d, Lomonosov Moscow State University, Moscow, Russia","Institute of Control Sciences RAS (or shot: ICS RAS) and Center \"Supersonic\", Lomonosov Moscow State University, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Institute of Control Sciences RAS (or shot: ICS RAS) and Center \u201cSupersonic\u201d, Lomonosov Moscow State University, Moscow, Russia","institution_ids":["https://openalex.org/I19880235","https://openalex.org/I4210157430"]},{"raw_affiliation_string":"Institute of Control Sciences RAS (or shot: ICS RAS) and Center \"Supersonic\", Lomonosov Moscow State University, Moscow, Russia","institution_ids":["https://openalex.org/I19880235","https://openalex.org/I4210157430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079939647"],"corresponding_institution_ids":["https://openalex.org/I59361560","https://openalex.org/I98461037"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.5528,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66670727,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"103","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983000159263611,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8214395046234131},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7660235166549683},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6223674416542053},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5796367526054382},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.52739018201828},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5115481615066528},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.4786706864833832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46303945779800415},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4294039011001587},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4248390793800354},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.34810760617256165},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.21648964285850525},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.20812469720840454},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1831505000591278},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14311975240707397},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13029569387435913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1251544952392578},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09275031089782715}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8214395046234131},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7660235166549683},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6223674416542053},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5796367526054382},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.52739018201828},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5115481615066528},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.4786706864833832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46303945779800415},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4294039011001587},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4248390793800354},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.34810760617256165},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.21648964285850525},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.20812469720840454},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1831505000591278},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14311975240707397},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13029569387435913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1251544952392578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09275031089782715},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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:10.1007/s10846-021-01466-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-021-01466-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W1610763863","https://openalex.org/W1882259562","https://openalex.org/W2018851823","https://openalex.org/W2021082829","https://openalex.org/W2030959268","https://openalex.org/W2097467365","https://openalex.org/W2099699682","https://openalex.org/W2126058202","https://openalex.org/W2127435750","https://openalex.org/W2129870396","https://openalex.org/W2152580527","https://openalex.org/W2492766244","https://openalex.org/W2522475299","https://openalex.org/W2891083589","https://openalex.org/W2995687286","https://openalex.org/W3003177097","https://openalex.org/W3006136081","https://openalex.org/W3009525131","https://openalex.org/W3012121840","https://openalex.org/W3094052443","https://openalex.org/W3103446998","https://openalex.org/W3157328914","https://openalex.org/W4230148240","https://openalex.org/W6669716035"],"related_works":["https://openalex.org/W4226382645","https://openalex.org/W3216719245","https://openalex.org/W4307334309","https://openalex.org/W4226267256","https://openalex.org/W2168992150","https://openalex.org/W2036311230","https://openalex.org/W1979692063","https://openalex.org/W2376449068","https://openalex.org/W1555822455","https://openalex.org/W4365392829"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
