{"id":"https://openalex.org/W1484511032","doi":"https://doi.org/10.1109/aim.2015.7222792","title":"Robust PID control for position tracking of an underwater manipulator","display_name":"Robust PID control for position tracking of an underwater manipulator","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1484511032","doi":"https://doi.org/10.1109/aim.2015.7222792","mag":"1484511032"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5021356164","display_name":"Santhakumar Mohan","orcid":"https://orcid.org/0000-0003-1264-990X"},"institutions":[{"id":"https://openalex.org/I64295750","display_name":"Indian Institute of Technology Indore","ror":"https://ror.org/01hhf7w52","country_code":"IN","type":"education","lineage":["https://openalex.org/I64295750"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Santhakumar Mohan","raw_affiliation_strings":["Mechanical Engineering, Indian Institute of Technology, Indore, India","Mechanical Engineering, Indian Institute of Technology Indore, 453441 India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Indian Institute of Technology, Indore, India","institution_ids":["https://openalex.org/I64295750"]},{"raw_affiliation_string":"Mechanical Engineering, Indian Institute of Technology Indore, 453441 India","institution_ids":["https://openalex.org/I64295750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054727482","display_name":"Jinwhan Kim","orcid":"https://orcid.org/0000-0001-6886-2449"},"institutions":[{"id":"https://openalex.org/I133437993","display_name":"Korea Institute of Ocean Science and Technology","ror":"https://ror.org/032m55064","country_code":"KR","type":"facility","lineage":["https://openalex.org/I133437993"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwhan Kim","raw_affiliation_strings":["Ocean Systems Engineering, Korean Advanced Institute of Science and Technology, Daejeon, Republic of Korea","Ocean Systems Engineering, Korean Advanced Institute of Science and Technology, Daejeon, 305701 Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ocean Systems Engineering, Korean Advanced Institute of Science and Technology, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I133437993","https://openalex.org/I157485424"]},{"raw_affiliation_string":"Ocean Systems Engineering, Korean Advanced Institute of Science and Technology, Daejeon, 305701 Republic of Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3408,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62195662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"1707","last_page":"1712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.996399998664856,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9936000108718872,"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":0.9021168947219849},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.8048098683357239},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.597874104976654},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5191606283187866},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5179325938224792},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4837779700756073},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.47968459129333496},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46595627069473267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4627774655818939},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4265348017215729},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4120328724384308},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3144356906414032},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3060421943664551},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14850783348083496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10188564658164978},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.09127306938171387},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.08968314528465271}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9021168947219849},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8048098683357239},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.597874104976654},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5191606283187866},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5179325938224792},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4837779700756073},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.47968459129333496},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46595627069473267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4627774655818939},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4265348017215729},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4120328724384308},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3144356906414032},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3060421943664551},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14850783348083496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10188564658164978},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.09127306938171387},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.08968314528465271},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2015.7222792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320330223","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W246666880","https://openalex.org/W1487127700","https://openalex.org/W1955311190","https://openalex.org/W1981825501","https://openalex.org/W1983572033","https://openalex.org/W1991665704","https://openalex.org/W2002290489","https://openalex.org/W2089326065","https://openalex.org/W2090601308","https://openalex.org/W2131491246","https://openalex.org/W2136791866","https://openalex.org/W2159915127","https://openalex.org/W2169098678","https://openalex.org/W4232280621","https://openalex.org/W6640933480"],"related_works":["https://openalex.org/W1482544612","https://openalex.org/W2527162313","https://openalex.org/W2032169801","https://openalex.org/W1977625453","https://openalex.org/W2156031235","https://openalex.org/W826170693","https://openalex.org/W2017264114","https://openalex.org/W2111260584","https://openalex.org/W1548112240","https://openalex.org/W2045488248","https://openalex.org/W3002994532","https://openalex.org/W2111728113","https://openalex.org/W2135926434","https://openalex.org/W2142786183","https://openalex.org/W1926991263","https://openalex.org/W2149369541","https://openalex.org/W2385521955","https://openalex.org/W2394036731","https://openalex.org/W2171398733","https://openalex.org/W1983736728"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"a":[3,16,38,46,86,92],"new":[4],"robust":[5],"nonlinear":[6,88],"proportional":[7],"integral":[8],"derivative":[9],"(PID)":[10],"position":[11],"tracking":[12],"control":[13,53,64],"applied":[14],"on":[15],"serial":[17],"underwater":[18],"spatial":[19],"manipulator":[20],"with":[21,55,117],"three":[22],"degrees":[23],"of":[24,41,105,111,120],"freedom.":[25],"The":[26,62,107],"proposed":[27,63,113],"controller":[28,90],"integrates":[29],"the":[30,42,52,74,102,112,118],"known":[31,58],"approximated":[32],"inverse":[33],"dynamic":[34],"model":[35],"output":[36],"as":[37,91],"model-base":[39],"portion":[40,94],"controller.":[43],"It":[44],"uses":[45],"feed":[47],"forward":[48],"term":[49,70],"to":[50,71,95],"enhance":[51,96],"activity":[54],"indulgence":[56],"from":[57],"desired":[59],"acceleration":[60],"vector.":[61],"scheme":[65],"carries":[66],"an":[67],"estimated":[68],"perturbed":[69],"compensate":[72],"for":[73,101],"unknown":[75],"effects":[76],"namely":[77],"external":[78],"disturbances":[79],"and":[80,99,109],"unmodelled":[81],"dynamics.":[82],"Finally,":[83],"it":[84],"has":[85],"decoupled":[87],"PID":[89],"feedback":[93],"closed-loop":[97],"stability":[98],"account":[100],"estimation":[103],"error":[104],"uncertainties.":[106],"usefulness":[108],"competency":[110],"approach":[114],"are":[115],"demonstrated":[116],"help":[119],"numerical":[121],"simulations.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}