{"id":"https://openalex.org/W2921907354","doi":"https://doi.org/10.1017/s0263574719000213","title":"Hybrid Strategy-based Coordinate Controller for an Underwater Vehicle Manipulator System Using Nonlinear Disturbance Observer","display_name":"Hybrid Strategy-based Coordinate Controller for an Underwater Vehicle Manipulator System Using Nonlinear Disturbance Observer","publication_year":2019,"publication_date":"2019-03-12","ids":{"openalex":"https://openalex.org/W2921907354","doi":"https://doi.org/10.1017/s0263574719000213","mag":"2921907354"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719000213","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000213","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5067633373","display_name":"Li Jiyong","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyong Li","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073749115","display_name":"Hai Huang","orcid":"https://orcid.org/0000-0002-4995-8151"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hai Huang","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023871002","display_name":"Lei Wan","orcid":"https://orcid.org/0000-0002-7279-8141"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wan","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017243696","display_name":"Zexing Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zexing Zhou","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051476449","display_name":"Yang Xu","orcid":"https://orcid.org/0000-0003-2550-1920"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Xu","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China E-mails:","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5073749115"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.6569,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.68422197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"37","issue":"10","first_page":"1710","last_page":"1731"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9958999752998352,"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/control-theory","display_name":"Control theory (sociology)","score":0.8727474212646484},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6008810997009277},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5438997149467468},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5342931151390076},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48593106865882874},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4656945466995239},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4320463240146637},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30569106340408325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1484864354133606},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11499032378196716}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8727474212646484},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6008810997009277},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5438997149467468},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5342931151390076},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48593106865882874},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4656945466995239},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4320463240146637},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30569106340408325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1484864354133606},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11499032378196716},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719000213","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000213","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.800000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W605247854","https://openalex.org/W1265284720","https://openalex.org/W1487127700","https://openalex.org/W1518169716","https://openalex.org/W1984598383","https://openalex.org/W1988849464","https://openalex.org/W2005207995","https://openalex.org/W2008436444","https://openalex.org/W2016770250","https://openalex.org/W2039925844","https://openalex.org/W2044121409","https://openalex.org/W2049410986","https://openalex.org/W2049617391","https://openalex.org/W2056664875","https://openalex.org/W2090702686","https://openalex.org/W2093804577","https://openalex.org/W2113265921","https://openalex.org/W2124328365","https://openalex.org/W2134919690","https://openalex.org/W2141308687","https://openalex.org/W2141398053","https://openalex.org/W2162476470","https://openalex.org/W2167772919","https://openalex.org/W2167808181","https://openalex.org/W2293700583","https://openalex.org/W2384197168","https://openalex.org/W2492811885","https://openalex.org/W2521307678","https://openalex.org/W2525483102","https://openalex.org/W2551865091","https://openalex.org/W2568019971","https://openalex.org/W2737164298","https://openalex.org/W2759354526","https://openalex.org/W3026829485","https://openalex.org/W3088063282","https://openalex.org/W4235131321","https://openalex.org/W4240172577","https://openalex.org/W4243649298","https://openalex.org/W6726550434","https://openalex.org/W6741736752","https://openalex.org/W6744623207"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Summary":[0],"This":[1,22],"paper":[2],"presents":[3],"a":[4,10,40,105,129],"hybrid":[5,106,146],"strategy-based":[6],"coordinate":[7,142],"controller":[8,113,120,143,171,181,185],"with":[9,178],"novel":[11],"nonlinear":[12],"disturbance":[13,42,189],"observer":[14],"for":[15],"autonomous":[16],"underwater":[17],"vehicle":[18],"manipulator":[19],"systems":[20],"(UVMSs).":[21],"method":[23],"can":[24],"reduce":[25],"the":[26,45,50,52,64,70,84,87,102,112,115,119,122,137,140,145,149,156,179,183,188],"influence":[27],"from":[28],"external":[29],"unknown":[30,151],"disturbances,":[31],"inner":[32],"coupling":[33],"effects":[34],"and":[35,75,144,161,182],"model":[36],"uncertainties":[37],"by":[38],"using":[39],"modified":[41],"observer.":[43,190],"Considering":[44],"natural":[46],"redundancy":[47,53],"property":[48],"of":[49,69,139],"UVMS,":[51],"resolution":[54],"algorithm":[55],"is":[56,108],"often":[57],"utilized":[58],"to":[59,86,110,118,135,196],"give":[60],"desired":[61,79],"trajectories":[62,80],"in":[63,101,114,121,167,176],"vehicle\u2013joint":[65],"space.":[66,124],"However,":[67],"because":[68],"calibration":[71],"errors,":[72,77],"assembling":[73],"errors":[74,99],"numerical":[76],"these":[78],"may":[81],"not":[82],"lead":[83],"end-effector":[85],"goal":[88],"point":[89],"accurately.":[90],"To":[91],"realize":[92],"accurate":[93],"motion":[94],"control":[95],"even":[96],"when":[97],"small":[98],"exist":[100],"planning":[103],"phase,":[104],"strategy":[107],"introduced":[109],"transform":[111],"joint\u2013vehicle":[116],"space":[117],"task":[123],"Numerical":[125],"simulations":[126],"based":[127],"on":[128],"UVMS":[130],"have":[131],"been":[132],"carried":[133,194],"out":[134,195],"testify":[136],"effectiveness":[138],"proposed":[141,184],"strategy.":[147],"During":[148],"simulations,":[150],"disturbances":[152],"are":[153,165,192],"exerted":[154],"upon":[155],"system.":[157],"The":[158,170],"trajectory":[159],"tracking":[160],"error":[162],"fixing":[163],"performances":[164],"discussed":[166],"comparative":[168],"analyses.":[169],"also":[172,193],"maintains":[173],"robust":[174],"characteristics":[175],"comparison":[177],"passivity-based":[180],"but":[186],"without":[187],"Experiments":[191],"test":[197],"its":[198],"performance.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}