{"id":"https://openalex.org/W2143450924","doi":"https://doi.org/10.1109/cca.2003.1223521","title":"A switched finite-time point-to-point control strategy for an underactuated underwater vehicle","display_name":"A switched finite-time point-to-point control strategy for an underactuated underwater vehicle","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W2143450924","doi":"https://doi.org/10.1109/cca.2003.1223521","mag":"2143450924"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2003.1223521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","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/A5103003208","display_name":"V. Sankaranarayanan","orcid":null},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"V. Sankaranarayanan","raw_affiliation_strings":["Systems and Control Engineering, Indian institute of Technology, Mumbai, India","Systems & Control Engineering, Indian Institute of Technology, Mumbai, India"],"affiliations":[{"raw_affiliation_string":"Systems and Control Engineering, Indian institute of Technology, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]},{"raw_affiliation_string":"Systems & Control Engineering, Indian Institute of Technology, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059111533","display_name":"Arun D. Mahindrakar","orcid":"https://orcid.org/0000-0002-7866-4363"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"A.D. Mahindrakar","raw_affiliation_strings":["Systems and Control Engineering, Indian institute of Technology, Mumbai, India","Systems & Control Engineering, Indian Institute of Technology, Mumbai, India"],"affiliations":[{"raw_affiliation_string":"Systems and Control Engineering, Indian institute of Technology, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]},{"raw_affiliation_string":"Systems & Control Engineering, Indian Institute of Technology, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064235762","display_name":"Ravi N. Banavar","orcid":"https://orcid.org/0000-0002-5746-7096"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"R.N. Banavar","raw_affiliation_strings":["Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai, India","Systems & Control Engineering, Indian Institute of Technology, Mumbai, India"],"affiliations":[{"raw_affiliation_string":"Systems and Control Engineering, Indian Institute of Technology Bombay, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]},{"raw_affiliation_string":"Systems & Control Engineering, Indian Institute of Technology, Mumbai, India","institution_ids":["https://openalex.org/I162827531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103003208"],"corresponding_institution_ids":["https://openalex.org/I162827531"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.11833217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"690","last_page":"694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9970999956130981,"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":0.9970999956130981,"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":0.9969000220298767,"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":0.9951000213623047,"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/underactuation","display_name":"Underactuation","score":0.8687173128128052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.74095618724823},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6517210006713867},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6464159488677979},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.62785804271698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4669524133205414},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4440328776836395},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.41823461651802063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3409517705440521},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24965888261795044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1265176236629486},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12263911962509155},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06995218992233276}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8687173128128052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.74095618724823},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6517210006713867},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6464159488677979},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.62785804271698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4669524133205414},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4440328776836395},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.41823461651802063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3409517705440521},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24965888261795044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1265176236629486},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12263911962509155},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06995218992233276},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cca.2003.1223521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223521","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","raw_type":"proceedings-article"},{"id":"pmh:oai:dsapce.library.iitb.ac.in:10054/1473","is_oa":false,"landing_page_url":"http://dspace.library.iitb.ac.in/xmlui/handle/10054/1473","pdf_url":null,"source":{"id":"https://openalex.org/S4306400899","display_name":"DSpace (IIT Bombay)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162827531","host_organization_name":"Indian Institute of Technology Bombay","host_organization_lineage":["https://openalex.org/I162827531"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:dspace.library.iitb.ac.in:10054/1473","is_oa":false,"landing_page_url":"http://hdl.handle.net/10054/1473","pdf_url":null,"source":{"id":"https://openalex.org/S4306400899","display_name":"DSpace (IIT Bombay)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162827531","host_organization_name":"Indian Institute of Technology Bombay","host_organization_lineage":["https://openalex.org/I162827531"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1625481168","https://openalex.org/W1971044547","https://openalex.org/W1972641348","https://openalex.org/W2047340799","https://openalex.org/W2064052574","https://openalex.org/W2091755184","https://openalex.org/W2093195174","https://openalex.org/W2100510662","https://openalex.org/W2109797476","https://openalex.org/W2120351803","https://openalex.org/W2128592712","https://openalex.org/W2136605942","https://openalex.org/W2150017548","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371953206","https://openalex.org/W2361023359","https://openalex.org/W2349543044","https://openalex.org/W3007915326"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,19,23,32,42],"switched":[3],"finite-time":[4],"control":[5,10,28,36],"law":[6,29],"for":[7,59],"the":[8,48,53,62],"point-to-point":[9],"of":[11,31,35,39,61],"an":[12],"underactuated":[13],"underwater":[14],"vehicle":[15],"(UUV)":[16],"moving":[17],"in":[18,22,47],"horizontal":[20],"plane":[21],"neutrally":[24],"buoyant":[25],"condition.":[26],"The":[27,55],"consists":[30],"sequential":[33],"series":[34],"actions,":[37],"each":[38],"which":[40],"achieves":[41],"certain":[43],"objective,":[44],"finally":[45],"resulting":[46],"system":[49],"being":[50],"moved":[51],"to":[52],"origin.":[54],"methodology":[56],"is":[57],"demonstrated":[58],"one":[60],"possible":[63],"three":[64],"actuator":[65],"configurations.":[66]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
