{"id":"https://openalex.org/W3100202548","doi":"https://doi.org/10.1109/access.2020.3037122","title":"Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle","display_name":"Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3100202548","doi":"https://doi.org/10.1109/access.2020.3037122","mag":"3100202548"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3037122","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3037122","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09253512.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09253512.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071981515","display_name":"Nur Afande Ali Hussain","orcid":"https://orcid.org/0000-0001-5813-8377"},"institutions":[{"id":"https://openalex.org/I203899302","display_name":"Universiti Teknologi Petronas","ror":"https://ror.org/048g2sh07","country_code":"MY","type":"education","lineage":["https://openalex.org/I203899302"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Nur Afande Ali Hussain","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Center for Intelligent Signal and Imaging Research (CISIR), Universiti Teknologi PETRONAS, Seri Iskandar, Malaysia"],"raw_orcid":"https://orcid.org/0000-0001-5813-8377","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Center for Intelligent Signal and Imaging Research (CISIR), Universiti Teknologi PETRONAS, Seri Iskandar, Malaysia","institution_ids":["https://openalex.org/I203899302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081141446","display_name":"Syed Saad Azhar Ali","orcid":"https://orcid.org/0000-0002-5615-4629"},"institutions":[{"id":"https://openalex.org/I203899302","display_name":"Universiti Teknologi Petronas","ror":"https://ror.org/048g2sh07","country_code":"MY","type":"education","lineage":["https://openalex.org/I203899302"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Syed Saad Azhar Ali","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Center for Intelligent Signal and Imaging Research (CISIR), Universiti Teknologi PETRONAS, Seri Iskandar, Malaysia"],"raw_orcid":"https://orcid.org/0000-0002-5615-4629","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Center for Intelligent Signal and Imaging Research (CISIR), Universiti Teknologi PETRONAS, Seri Iskandar, Malaysia","institution_ids":["https://openalex.org/I203899302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057442523","display_name":"Pere Ridao","orcid":"https://orcid.org/0000-0002-1724-3012"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pere Ridao","raw_affiliation_strings":["Girona Underwater Vision and Robotics, University of Girona, Girona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Girona Underwater Vision and Robotics, University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048994950","display_name":"Patryk Cie\u015bl\u0105k","orcid":"https://orcid.org/0000-0002-8599-1012"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Patryk Cieslak","raw_affiliation_strings":["Girona Underwater Vision and Robotics, University of Girona, Girona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-8599-1012","affiliations":[{"raw_affiliation_string":"Girona Underwater Vision and Robotics, University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014958087","display_name":"Ubaid M. Al\u2010Saggaf","orcid":"https://orcid.org/0000-0002-2925-5184"},"institutions":[{"id":"https://openalex.org/I185163786","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74","country_code":"SA","type":"education","lineage":["https://openalex.org/I185163786"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Ubaid M. Al-Saggaf","raw_affiliation_strings":["Center of Excellence in Intelligent Engineering Systems, King Abdulaziz University, Jeddah, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-2925-5184","affiliations":[{"raw_affiliation_string":"Center of Excellence in Intelligent Engineering Systems, King Abdulaziz University, Jeddah, Saudi Arabia","institution_ids":["https://openalex.org/I185163786"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5071981515"],"corresponding_institution_ids":["https://openalex.org/I203899302"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9049,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.7455337,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"205685","last_page":"205695"},"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":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.7336076498031616},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.682327389717102},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5809414386749268},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5715804696083069},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5593210458755493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5524024963378906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5458155870437622},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.5399598479270935},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4951390326023102},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4813319146633148},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.45739468932151794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.424612820148468},{"id":"https://openalex.org/keywords/multivariable-calculus","display_name":"Multivariable calculus","score":0.41325491666793823},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.312896728515625},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.29718446731567383},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1721668243408203},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.11216601729393005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09681195020675659}],"concepts":[{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.7336076498031616},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.682327389717102},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5809414386749268},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5715804696083069},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5593210458755493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5524024963378906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5458155870437622},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.5399598479270935},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4951390326023102},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4813319146633148},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.45739468932151794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.424612820148468},{"id":"https://openalex.org/C117312493","wikidata":"https://www.wikidata.org/wiki/Q2035437","display_name":"Multivariable calculus","level":2,"score":0.41325491666793823},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.312896728515625},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.29718446731567383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1721668243408203},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.11216601729393005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09681195020675659},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural 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/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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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":3,"locations":[{"id":"doi:10.1109/access.2020.3037122","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3037122","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09253512.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:dnet:dugidocsuniv::f691725f7f3f4db1e60ada48bd268a6c","is_oa":true,"landing_page_url":"http://hdl.handle.net/10256/19079","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Hussain, Nur Afande Ali Ali, Syed Saad Azhar Ridao Rodr\u00edguez, Pere Cies&amp;#769la&amp;#808k, Patryk Al-Saggaf, Ubaid 2020 Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle Ieee Access 8  205685 205695","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:a90c55730377481cbf2d955e88a5037a","is_oa":true,"landing_page_url":"https://doaj.org/article/a90c55730377481cbf2d955e88a5037a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 205685-205695 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3037122","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3037122","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09253512.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G7840186653","display_name":null,"funder_award_id":"015ME0-066","funder_id":"https://openalex.org/F4320322322","funder_display_name":"King Abdulaziz University"}],"funders":[{"id":"https://openalex.org/F4320310750","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91"},{"id":"https://openalex.org/F4320322322","display_name":"King Abdulaziz University","ror":"https://ror.org/02ma4wv74"},{"id":"https://openalex.org/F4320323380","display_name":"Universiti Teknologi Petronas","ror":"https://ror.org/048g2sh07"},{"id":"https://openalex.org/F4320329394","display_name":"Yayasan UTP","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3100202548.pdf","grobid_xml":"https://content.openalex.org/works/W3100202548.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1554156567","https://openalex.org/W1960626367","https://openalex.org/W2000275434","https://openalex.org/W2006703192","https://openalex.org/W2006808347","https://openalex.org/W2017352881","https://openalex.org/W2038898551","https://openalex.org/W2063286214","https://openalex.org/W2064482780","https://openalex.org/W2149647182","https://openalex.org/W2152456656","https://openalex.org/W2165369908","https://openalex.org/W2170521374","https://openalex.org/W2215020684","https://openalex.org/W2289232939","https://openalex.org/W2344440634","https://openalex.org/W2346634033","https://openalex.org/W2403551983","https://openalex.org/W2471272568","https://openalex.org/W2478750545","https://openalex.org/W2500702096","https://openalex.org/W2501499543","https://openalex.org/W2505406461","https://openalex.org/W2518905552","https://openalex.org/W2560445289","https://openalex.org/W2573344683","https://openalex.org/W2755402909","https://openalex.org/W2771681992","https://openalex.org/W2786886009","https://openalex.org/W2808147914","https://openalex.org/W2834173748","https://openalex.org/W2889455272","https://openalex.org/W2897079272","https://openalex.org/W2904494959","https://openalex.org/W2904800621","https://openalex.org/W2912873929","https://openalex.org/W2922395460","https://openalex.org/W2944364416","https://openalex.org/W2956072737","https://openalex.org/W2971508029","https://openalex.org/W2982445634","https://openalex.org/W2985342878","https://openalex.org/W2997198998","https://openalex.org/W3019743635","https://openalex.org/W3035871649","https://openalex.org/W4235023426","https://openalex.org/W6723831390"],"related_works":["https://openalex.org/W2910328188","https://openalex.org/W2022278641","https://openalex.org/W1497222032","https://openalex.org/W2349056416","https://openalex.org/W1978568405","https://openalex.org/W2392607442","https://openalex.org/W1976470259","https://openalex.org/W1518052052","https://openalex.org/W2169744859","https://openalex.org/W4387840067"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,58,61,66,69,79,113,150,156],"development":[4,98],"of":[5,60,68,129],"unmanned":[6],"marine":[7],"robotic":[8],"control":[9,12,46,62,143],"modelling":[10],"and":[11,52,65,93,97,105,118,146],"synthesis":[13,63],"using":[14,28,110,137],"a":[15,121],"coupled":[16,41],"multivariable":[17],"underactuated":[18],"nonlinear":[19,130],"adaptive":[20,40,131],"U-model":[21,42,132],"approach.":[22],"The":[23,38,54,74,88,139],"proposed":[24,55,157],"controller":[25,56,75,95],"was":[26,49,76,135],"developed":[27,51,136],"thru":[29],"an":[30],"open":[31],"source":[32],"robot":[33],"operating":[34],"system":[35,153],"(ROS)":[36],"platform.":[37],"new":[39,126],"based":[43,133],"internal":[44],"model":[45,154],"(IMC)":[47],"node":[48,128],"successfully":[50],"tested.":[53],"demonstrated":[57],"simplicity":[59],"process":[64],"implementation":[67],"mathematical":[70],"algorithm":[71],"in":[72],"real-time.":[73],"compared":[77,99,119],"with":[78,120,155],"proven":[80],"existing":[81],"GIRONA":[82,114],"500":[83,115],"UUV":[84,116],"for":[85],"real-time":[86,106],"performance.":[87],"ROS":[89,111,127],"environment":[90],"provides":[91],"fast":[92],"reliable":[94],"design":[96],"to":[100],"conventional":[101],"software":[102],"architecture.":[103],"Simulation":[104],"experiment":[107],"were":[108],"conducted":[109],"via":[112],"platform":[117],"PID":[122],"mission":[123],"controller.":[124],"A":[125],"IMC":[134],"ROS.":[138],"results":[140],"showed":[141],"good":[142],"signal":[144],"convergence":[145],"tracking":[147],"performance":[148],"between":[149],"plant":[151],"or":[152],"method.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}
