{"id":"https://openalex.org/W4385278126","doi":"https://doi.org/10.1017/s0263574723000875","title":"Trajectory tracking control of an underwater vehicle in the presence of disturbance, measurement errors, and actuator dynamic and nonlinearity","display_name":"Trajectory tracking control of an underwater vehicle in the presence of disturbance, measurement errors, and actuator dynamic and nonlinearity","publication_year":2023,"publication_date":"2023-07-26","ids":{"openalex":"https://openalex.org/W4385278126","doi":"https://doi.org/10.1017/s0263574723000875"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723000875","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574723000875","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/A5037003333","display_name":"Seyed Mostafa Hosseini","orcid":"https://orcid.org/0000-0003-2604-504X"},"institutions":[{"id":"https://openalex.org/I84248293","display_name":"Babol Noshirvani University of Technology","ror":"https://ror.org/02zc85170","country_code":"IR","type":"education","lineage":["https://openalex.org/I84248293"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Mostafa Hosseini","raw_affiliation_strings":["Intelligent System and Nano Devices Research Group, Department of Control Engineering, Babol Noshirvani University of Technology, Babol, Iran"],"raw_orcid":"https://orcid.org/0000-0002-0421-2364","affiliations":[{"raw_affiliation_string":"Intelligent System and Nano Devices Research Group, Department of Control Engineering, Babol Noshirvani University of Technology, Babol, Iran","institution_ids":["https://openalex.org/I84248293"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044320507","display_name":"Abolfazl Ranjbar Noei","orcid":"https://orcid.org/0000-0003-4255-2252"},"institutions":[{"id":"https://openalex.org/I84248293","display_name":"Babol Noshirvani University of Technology","ror":"https://ror.org/02zc85170","country_code":"IR","type":"education","lineage":["https://openalex.org/I84248293"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Abolfazl Ranjbar Noei","raw_affiliation_strings":["Intelligent System and Nano Devices Research Group, Department of Control Engineering, Babol Noshirvani University of Technology, Babol, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent System and Nano Devices Research Group, Department of Control Engineering, Babol Noshirvani University of Technology, Babol, Iran","institution_ids":["https://openalex.org/I84248293"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010868215","display_name":"Seyed Jalil Sadati","orcid":"https://orcid.org/0000-0003-3964-7648"},"institutions":[{"id":"https://openalex.org/I84248293","display_name":"Babol Noshirvani University of Technology","ror":"https://ror.org/02zc85170","country_code":"IR","type":"education","lineage":["https://openalex.org/I84248293"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Seyed Jalil Sadati Rostami","raw_affiliation_strings":["Intelligent System and Nano Devices Research Group, Department of Control Engineering, Babol Noshirvani University of Technology, Babol, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent System and Nano Devices Research Group, Department of Control Engineering, Babol Noshirvani University of Technology, Babol, Iran","institution_ids":["https://openalex.org/I84248293"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037003333"],"corresponding_institution_ids":["https://openalex.org/I84248293"],"apc_list":null,"apc_paid":null,"fwci":0.6989,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69819895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"41","issue":"10","first_page":"3059","last_page":"3078"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9976999759674072,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9939000010490417,"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":0.8623896837234497},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6703183650970459},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5932661890983582},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5293439626693726},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4941602051258087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.467829167842865},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4633636176586151},{"id":"https://openalex.org/keywords/rudder","display_name":"Rudder","score":0.4551851153373718},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.44848525524139404},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4472634196281433},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43090584874153137},{"id":"https://openalex.org/keywords/dynamic-positioning","display_name":"Dynamic positioning","score":0.41069212555885315},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3625635802745819},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3113679885864258},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23186907172203064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12804999947547913},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12589287757873535},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07757246494293213}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8623896837234497},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6703183650970459},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5932661890983582},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5293439626693726},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4941602051258087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.467829167842865},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4633636176586151},{"id":"https://openalex.org/C183776436","wikidata":"https://www.wikidata.org/wiki/Q209760","display_name":"Rudder","level":2,"score":0.4551851153373718},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.44848525524139404},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4472634196281433},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43090584874153137},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.41069212555885315},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3625635802745819},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3113679885864258},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23186907172203064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12804999947547913},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12589287757873535},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07757246494293213},{"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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","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:10.1017/s0263574723000875","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574723000875","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","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W796978335","https://openalex.org/W1547997138","https://openalex.org/W1583101681","https://openalex.org/W1585410482","https://openalex.org/W1626043328","https://openalex.org/W1943684486","https://openalex.org/W1999457102","https://openalex.org/W2014726601","https://openalex.org/W2018851823","https://openalex.org/W2040721920","https://openalex.org/W2121610747","https://openalex.org/W2124296081","https://openalex.org/W2158970259","https://openalex.org/W2183034352","https://openalex.org/W2236771349","https://openalex.org/W2496564722","https://openalex.org/W2527678188","https://openalex.org/W2547083743","https://openalex.org/W2554475343","https://openalex.org/W2756240116","https://openalex.org/W2802611068","https://openalex.org/W2969025236","https://openalex.org/W2977676859","https://openalex.org/W3025779165","https://openalex.org/W3135286236","https://openalex.org/W3168018105","https://openalex.org/W3171106838","https://openalex.org/W3208270651","https://openalex.org/W4225131651","https://openalex.org/W4311086581","https://openalex.org/W6632763968","https://openalex.org/W6650103501","https://openalex.org/W6678394959","https://openalex.org/W6730208054","https://openalex.org/W6769061715"],"related_works":["https://openalex.org/W2169157686","https://openalex.org/W2605242147","https://openalex.org/W3196346419","https://openalex.org/W2386267831","https://openalex.org/W2917584747","https://openalex.org/W2575067777","https://openalex.org/W4384665641","https://openalex.org/W4312090230","https://openalex.org/W2007082754","https://openalex.org/W1993064597"],"abstract_inverted_index":{"Abstract":[0],"Underwater":[1],"vehicles":[2],"are":[3],"rich":[4],"systems":[5],"with":[6,166],"attractive":[7],"and":[8,16,26,59,82,85,135,158,173],"challenging":[9,31],"properties":[10],"such":[11],"as":[12],"nonlinearities,":[13],"external":[14,78,154],"disturbances,":[15,79,155],"underactuated":[17],"dynamics.":[18],"These":[19],"make":[20],"the":[21,53,62,68,75,96,99,102,109,141,145,164,167,170,174,179,182,187,190],"design":[22],"of":[23,52,77,98,112,169,181,189],"an":[24],"advanced":[25],"robust":[27],"controller":[28,43,143,172,177],"quite":[29],"a":[30,38,45,138,150],"task.":[32,49],"This":[33],"paper":[34],"focuses":[35],"on":[36],"designing":[37],"model-free":[39],"high-order":[40],"sliding":[41],"mode":[42],"in":[44,65,74,91,149],"six-degree-of-freedom":[46],"trajectory":[47,57],"tracking":[48,58,113],"The":[50],"purpose":[51],"control":[54],"is":[55,88,105,123,147,195],"accurate":[56],"considerably":[60],"reducing":[61],"chattering":[63],"phenomenon":[64],"situations":[66],"where":[67],"remotely":[69],"operated":[70],"vehicle":[71],"(ROV)":[72],"works":[73],"presence":[76],"measurement":[80,121,156,191],"errors,":[81,157],"actuator":[83],"dynamics":[84],"nonlinearity,":[86],"which":[87],"not":[89],"seen":[90],"previous":[92],"research.":[93],"To":[94],"demonstrate":[95],"stability":[97,111],"closed-loop":[100],"system,":[101],"Lyapunov":[103],"theory":[104],"employed":[106],"to":[107,125,128,186],"ensure":[108],"asymptotic":[110],"errors.":[114],"A":[115],"linear":[116],"Kalman":[117],"filter":[118],"for":[119,144],"estimating":[120],"errors":[122],"proposed":[124,142,183],"be":[126],"used":[127],"correct":[129],"positioning":[130],"system":[131],"outputs":[132],"(speed,":[133],"position,":[134],"attitude).":[136],"In":[137,161],"hardware-in-the-loop":[139],"test,":[140],"ROV":[146],"tested":[148],"real-time":[151],"application,":[152],"considering":[153],"actual":[159],"thrusters.":[160],"addition,":[162],"comparing":[163],"outcomes":[165],"performance":[168],"PID":[171],"supper":[175],"twisting":[176],"shows":[178],"superiority":[180],"controller.":[184],"Due":[185],"existence":[188],"noise,":[192],"spectrum":[193],"analysis":[194],"also":[196],"performed.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
