{"id":"https://openalex.org/W3047248129","doi":"https://doi.org/10.1108/ir-04-2020-0084","title":"Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure","display_name":"Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure","publication_year":2020,"publication_date":"2020-08-06","ids":{"openalex":"https://openalex.org/W3047248129","doi":"https://doi.org/10.1108/ir-04-2020-0084","mag":"3047248129"},"language":"en","primary_location":{"id":"doi:10.1108/ir-04-2020-0084","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2020-0084","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5083461791","display_name":"Liqin Zhou","orcid":"https://orcid.org/0000-0001-7661-5683"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liqin Zhou","raw_affiliation_strings":["Ocean University of China \u2013 Laoshan Campus , Qingdao,","Ocean University of China \u2013 Laoshan Campus, Qingdao, China"],"affiliations":[{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus , Qingdao,","institution_ids":["https://openalex.org/I59028903"]},{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055909743","display_name":"Changbin Wang","orcid":"https://orcid.org/0000-0003-2480-6116"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changbin Wang","raw_affiliation_strings":["Ocean University of China \u2013 Laoshan Campus Department of Control Science and Engineering, , Qingdao,","Department of Control Science and Engineering, Ocean University of China \u2013 Laoshan Campus, Qingdao, China"],"affiliations":[{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus Department of Control Science and Engineering, , Qingdao,","institution_ids":["https://openalex.org/I59028903"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Ocean University of China \u2013 Laoshan Campus, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067464577","display_name":"Lin Li","orcid":"https://orcid.org/0000-0001-9654-8318"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Li","raw_affiliation_strings":["Ocean University of China \u2013 Laoshan Campus , Qingdao,","Ocean University of China \u2013 Laoshan Campus, Qingdao, China"],"affiliations":[{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus , Qingdao,","institution_ids":["https://openalex.org/I59028903"]},{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002568038","display_name":"Chengxi Zhang","orcid":"https://orcid.org/0000-0002-3130-6497"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengxi Zhang","raw_affiliation_strings":["Harbin Institute of Technology , Harbin,","Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology , Harbin,","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028696660","display_name":"Dalei Song","orcid":"https://orcid.org/0000-0001-5407-5989"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dalei Song","raw_affiliation_strings":["Ocean University of China \u2013 Laoshan Campus , Qingdao,","Ocean University of China \u2013 Laoshan Campus, Qingdao, China"],"affiliations":[{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus , Qingdao,","institution_ids":["https://openalex.org/I59028903"]},{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100424932","display_name":"Chong Li","orcid":"https://orcid.org/0000-0002-2380-7777"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chong Li","raw_affiliation_strings":["Ocean University of China \u2013 Laoshan Campus , Qingdao,","Ocean University of China \u2013 Laoshan Campus, Qingdao, China"],"affiliations":[{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus , Qingdao,","institution_ids":["https://openalex.org/I59028903"]},{"raw_affiliation_string":"Ocean University of China \u2013 Laoshan Campus, Qingdao, China","institution_ids":["https://openalex.org/I59028903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5083461791"],"corresponding_institution_ids":["https://openalex.org/I59028903"],"apc_list":null,"apc_paid":null,"fwci":0.3531,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.60065325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"48","issue":"1","first_page":"121","last_page":"132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9983999729156494,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9923999905586243,"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/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.9025797843933105},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6456607580184937},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5804992914199829},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5433966517448425},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5355833172798157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4594991207122803},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4550441801548004},{"id":"https://openalex.org/keywords/remotely-operated-vehicle","display_name":"Remotely operated vehicle","score":0.4492000937461853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4399990141391754},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.431841105222702},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.4218606948852539},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2270541787147522},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19425883889198303},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16292688250541687},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15026244521141052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14811432361602783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07513996958732605}],"concepts":[{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.9025797843933105},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6456607580184937},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5804992914199829},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5433966517448425},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5355833172798157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4594991207122803},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4550441801548004},{"id":"https://openalex.org/C64228939","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated vehicle","level":2,"score":0.4492000937461853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4399990141391754},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.431841105222702},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.4218606948852539},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2270541787147522},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19425883889198303},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16292688250541687},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15026244521141052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14811432361602783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07513996958732605},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-04-2020-0084","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2020-0084","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W897358131","https://openalex.org/W1578831870","https://openalex.org/W1984010993","https://openalex.org/W1984553907","https://openalex.org/W2013923153","https://openalex.org/W2055397924","https://openalex.org/W2075382963","https://openalex.org/W2084411624","https://openalex.org/W2108492638","https://openalex.org/W2128195908","https://openalex.org/W2135453443","https://openalex.org/W2138728471","https://openalex.org/W2161398593","https://openalex.org/W2162839213","https://openalex.org/W2166486522","https://openalex.org/W2168285891","https://openalex.org/W2536286749","https://openalex.org/W2543700571","https://openalex.org/W2609260874","https://openalex.org/W2736283428","https://openalex.org/W2755372874","https://openalex.org/W2760515979","https://openalex.org/W2898998834","https://openalex.org/W2906370933","https://openalex.org/W2912661956","https://openalex.org/W2956224283"],"related_works":["https://openalex.org/W2927959334","https://openalex.org/W2071768959","https://openalex.org/W2746169463","https://openalex.org/W4382394583","https://openalex.org/W1484067751","https://openalex.org/W2290286193","https://openalex.org/W4386066124","https://openalex.org/W2072275629","https://openalex.org/W4319442894","https://openalex.org/W4372267671"],"abstract_inverted_index":{"Purpose":[0],"A":[1],"novel":[2],"fault-tolerant":[3,48],"control":[4,49,74,110,162],"(FTC)":[5],"method":[6,85,229,256],"is":[7,32,51,61,135,144,176,315,334],"proposed":[8,161,230,257],"to":[9,317],"assure":[10],"the":[11,14,20,28,37,45,54,59,83,87,117,120,138,148,157,160,179,195,237,263,274,285,301,323,332],"stability":[12,26,60,155,265],"of":[13,27,44,89,123,142,156,182,216,239,266,276,300,331],"remote-operated":[15],"vehicle":[16,241],"(ROV)":[17],"by":[18,81],"considering":[19],"thruster":[21,90,103,324],"failure-induced":[22],"model":[23,39,141,171,187],"perturbations.":[24],"The":[25,42,95,133,153,169,227,254,295,327],"ROV":[29,80,96,124,143,170,267,302,319],"with":[30,36,101,125,303],"failures":[31],"guaranteed":[33],"and":[34,56,92,98,107,128,146,192,212,222,248,292,297,309,329],"optimized":[35,312],"determined":[38],"perturbation":[40],"set.":[41],"effectiveness":[43,330],"double-boundary":[46],"interval":[47],"(DBIFTC)":[50],"verified":[52],"through":[53],"experiments":[55],"proves":[57],"that":[58,136],"well":[62],"maintained,":[63],"which":[64],"demonstrates":[65],"a":[66,73,77,130],"decent":[67],"performance.":[68],"Design/methodology/approach":[69],"This":[70],"paper":[71,175,233,260],"studies":[72],"problem":[75,122,238],"for":[76,109],"multi-vector":[78,126,304],"propulsion":[79,305],"using":[82],"DBIFTC":[84,131,149,228,255,313,333],"in":[86,173,209,231,258,273],"presence":[88],"failure":[91,104,244,278,298,325],"external":[93,246,280],"disturbances.":[94],"kinematics":[97,296],"dynamical":[99],"models":[100],"multi-vector-arranged":[102],"are":[105,206,307],"investigated":[106,308,316],"formulated":[108],"system":[111,140,158,180,306],"design.":[112],"Findings":[113],"In":[114,282],"this":[115,174,186,232,259,283],"paper,":[116],"authors":[118],"address":[119],"FTC":[121],"thrusters":[127],"propose":[129],"scheme.":[132],"advantage":[134],"as":[137],"kinematic":[139],"preanalyzed":[145],"identified,":[147],"becomes":[150],"more":[151],"effective.":[152],"mathematical":[154],"under":[159,242,322],"scheme":[163,314],"can":[164,197,234,261,287],"be":[165,198],"guaranteed.":[166],"Research":[167],"limitations/implications":[168],"used":[172,208],"based":[177],"on":[178],"identification":[181],"experimental":[183,190],"data.":[184],"Although":[185],"has":[188],"real":[189],"value":[191],"physical":[193],"significance,":[194],"accuracy":[196],"further":[199],"improved.":[200],"Practical":[201],"implications":[202,253],"Cable-controlled":[203],"underwater":[204,240,270],"ROVs":[205],"widely":[207],"military":[210],"missions":[211],"scientific":[213],"research":[214],"because":[215],"their":[217],"flexibility,":[218],"sufficient":[219],"load":[220],"capacity":[221],"real-time":[223],"information":[224],"transmission":[225],"characteristics.":[226],"effectively":[235],"reduce":[236],"propeller":[243,277],"or":[245,268,279],"disturbance":[247],"save":[249],"unnecessary":[250],"cost.":[251],"Social":[252],"ensure":[262],"attitude":[264,321],"other":[269],"equipment":[271],"operating":[272],"event":[275],"disturbance.":[281],"way,":[284],"robot":[286],"better":[288],"perform":[289],"undersea":[290],"work":[291],"tasks.":[293],"Originality/value":[294],"mechanisms":[299],"established.":[310],"An":[311],"stabilize":[318],"yaw":[320],"condition.":[326],"feasibility":[328],"experimentally":[335],"validated.":[336]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-12-05T23:21:25.405358","created_date":"2025-10-10T00:00:00"}