{"id":"https://openalex.org/W2924973319","doi":"https://doi.org/10.1017/s0263574719000262","title":"Design Boundary Layer Thickness and Switching Gain in SMC Algorithm for AUV Motion Control","display_name":"Design Boundary Layer Thickness and Switching Gain in SMC Algorithm for AUV Motion Control","publication_year":2019,"publication_date":"2019-03-20","ids":{"openalex":"https://openalex.org/W2924973319","doi":"https://doi.org/10.1017/s0263574719000262","mag":"2924973319"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719000262","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000262","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/A5077768550","display_name":"Ehsan Taheri","orcid":"https://orcid.org/0000-0003-4251-1645"},"institutions":[{"id":"https://openalex.org/I78323350","display_name":"Malek Ashtar University of Technology","ror":"https://ror.org/0043ezw98","country_code":"IR","type":"education","lineage":["https://openalex.org/I78323350"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Ehsan Taheri","raw_affiliation_strings":["Control Group, Electrical Engineering Department, Malek Ashtar University of Technology, 15875-1774, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Group, Electrical Engineering Department, Malek Ashtar University of Technology, 15875-1774, Tehran, Iran","institution_ids":["https://openalex.org/I78323350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108613321","display_name":"M.H. Ferdowsi","orcid":null},"institutions":[{"id":"https://openalex.org/I78323350","display_name":"Malek Ashtar University of Technology","ror":"https://ror.org/0043ezw98","country_code":"IR","type":"education","lineage":["https://openalex.org/I78323350"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohamad Hossein Ferdowsi","raw_affiliation_strings":["Control Group, Electrical Engineering Department, Malek Ashtar University of Technology, 15875-1774, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Group, Electrical Engineering Department, Malek Ashtar University of Technology, 15875-1774, Tehran, Iran","institution_ids":["https://openalex.org/I78323350"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063315579","display_name":"Mohammad Danesh","orcid":"https://orcid.org/0000-0002-5748-6537"},"institutions":[{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Danesh","raw_affiliation_strings":["Department of Mechanical Engineering, Isfahan University of Technology, 84156-83111, Isfahan, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Isfahan University of Technology, 84156-83111, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077768550"],"corresponding_institution_ids":["https://openalex.org/I78323350"],"apc_list":null,"apc_paid":null,"fwci":1.233,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76259051,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"37","issue":"10","first_page":"1785","last_page":"1803"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994000196456909,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.6436930894851685},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5248751044273376},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5109926462173462},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5084075331687927},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5019557476043701},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4902339577674866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47988831996917725},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4687172472476959},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4684567451477051},{"id":"https://openalex.org/keywords/boundary-layer","display_name":"Boundary layer","score":0.45394307374954224},{"id":"https://openalex.org/keywords/automatic-gain-control","display_name":"Automatic gain control","score":0.43411290645599365},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.41118913888931274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3731340765953064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.252178430557251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16354939341545105},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.12020009756088257},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11292478442192078}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6436930894851685},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5248751044273376},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5109926462173462},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5084075331687927},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5019557476043701},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4902339577674866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47988831996917725},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4687172472476959},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4684567451477051},{"id":"https://openalex.org/C111603439","wikidata":"https://www.wikidata.org/wiki/Q752193","display_name":"Boundary layer","level":2,"score":0.45394307374954224},{"id":"https://openalex.org/C177502760","wikidata":"https://www.wikidata.org/wiki/Q782524","display_name":"Automatic gain control","level":4,"score":0.43411290645599365},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.41118913888931274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3731340765953064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.252178430557251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16354939341545105},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.12020009756088257},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11292478442192078},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"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/C46362747","wikidata":"https://www.wikidata.org/wiki/Q173431","display_name":"CMOS","level":2,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719000262","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000262","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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1535095776","https://openalex.org/W1558647590","https://openalex.org/W1833024299","https://openalex.org/W1990042683","https://openalex.org/W2034427367","https://openalex.org/W2040690439","https://openalex.org/W2055470001","https://openalex.org/W2061296863","https://openalex.org/W2089481918","https://openalex.org/W2090237927","https://openalex.org/W2099489172","https://openalex.org/W2101141060","https://openalex.org/W2123998235","https://openalex.org/W2128005908","https://openalex.org/W2171966077","https://openalex.org/W2207617193","https://openalex.org/W2416789866","https://openalex.org/W2470955993","https://openalex.org/W2473425084","https://openalex.org/W2503435921","https://openalex.org/W2566802989","https://openalex.org/W2568019971","https://openalex.org/W2595291551","https://openalex.org/W2607329203","https://openalex.org/W2680197185","https://openalex.org/W2760725434","https://openalex.org/W2766330333","https://openalex.org/W2768537325","https://openalex.org/W2789862859","https://openalex.org/W2906531903","https://openalex.org/W2908854797","https://openalex.org/W4248049034","https://openalex.org/W6720377340","https://openalex.org/W6740296104"],"related_works":["https://openalex.org/W2362660065","https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459"],"abstract_inverted_index":{"Summary":[0],"Designing":[1],"the":[2,10,21,33,40,50,54,61,82,87,107,128,144,151,158,162,169,179,186,191],"boundary":[3,111],"layer":[4,112],"thickness":[5],"and":[6,37,63,68,92,100,125,130,147,172],"switching":[7,79],"gain":[8,80],"in":[9,24,60,81,97,161,183,190],"nonlinear":[11],"part":[12],"of":[13,20,35,42,110,157,174],"sliding":[14],"mode":[15],"controller":[16],"(SMC)":[17],"is":[18,72,117,136,148],"one":[19],"main":[22],"subjects":[23],"SMC":[25],"design":[26],"that":[27,168],"needs":[28],"human":[29],"experience,":[30],"knowledge":[31],"on":[32,138],"amplitude":[34,173],"disturbances,":[36],"information":[38],"about":[39],"bounds":[41],"system":[43],"uncertainties.":[44],"In":[45],"this":[46],"paper,":[47],"to":[48,119,178],"reduce":[49],"trial-and-error":[51],"effort":[52],"by":[53,106,150],"designer(s)":[55],"two":[56,163],"different":[57,164],"fitness":[58],"functions":[59],"horizontal":[62],"vertical":[64],"planes":[65],"are":[66,104,181],"presented":[67],"a":[69,139],"heuristic":[70],"method":[71,116],"used":[73],"for":[74],"their":[75],"optimization.":[76],"The":[77,133,155],"optimal":[78,108],"proposed":[83,115],"approach":[84],"properly":[85],"compensates":[86],"unmodeled":[88],"dynamics,":[89],"model":[90],"uncertainty,":[91],"external":[93],"disturbances.":[94],"Chattering":[95],"phenomenon":[96,171],"control":[98,175],"signals":[99],"noise":[101],"measurement":[102],"effect":[103],"reduced":[105,182],"selection":[109],"thickness.":[113],"This":[114],"applied":[118,177],"an":[120],"autonomous":[121],"underwater":[122],"vehicle":[123],"(AUV)":[124],"evaluated":[126,149],"through":[127,143],"real-time":[129],"cost-effective":[131],"manner.":[132],"execution":[134],"code":[135],"implemented":[137],"single-board":[140],"computer":[141],"(SBC)":[142],"xPC":[145],"Target":[146],"processor-in-the-loop":[152],"(PIL)":[153],"test.":[154],"results":[156],"PIL":[159],"test":[160,165],"cases":[166],"indicate":[167],"chattering":[170],"signal":[176],"actuators":[180],"comparison":[184],"with":[185],"three":[187],"conventional":[188],"approaches":[189],"AUV":[192],"motion":[193],"control.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}
