{"id":"https://openalex.org/W4312864002","doi":"https://doi.org/10.1109/ccta49430.2022.9966034","title":"Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots","display_name":"Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots","publication_year":2022,"publication_date":"2022-08-23","ids":{"openalex":"https://openalex.org/W4312864002","doi":"https://doi.org/10.1109/ccta49430.2022.9966034"},"language":"en","primary_location":{"id":"doi:10.1109/ccta49430.2022.9966034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966034","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/3123555/1/Journal_paper_TCST_UPAS%2b%252810%2529.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090107670","display_name":"Amer Orucevic","orcid":"https://orcid.org/0000-0001-9663-5251"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Amer Orucevic","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU) (Trondheim NO-7491 - Norway)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU) (Trondheim NO-7491 - Norway)","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034485872","display_name":"Jan Tommy Gravdahl","orcid":"https://orcid.org/0000-0002-5663-0795"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Jan Tommy Gravdahl","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU) (Trondheim NO-7491 - Norway)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU) (Trondheim NO-7491 - Norway)","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055872448","display_name":"Kristin Y. Pettersen","orcid":"https://orcid.org/0000-0002-3897-0315"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kristin Y. Pettersen","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU) (Trondheim NO-7491 - Norway)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology (NTNU),Department of Engineering Cybernetics,Trondheim,Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU) (Trondheim NO-7491 - Norway)","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058680776","display_name":"Antoine Chaillet","orcid":"https://orcid.org/0000-0003-4095-0468"},"institutions":[{"id":"https://openalex.org/I185839726","display_name":"Institut Universitaire de France","ror":"https://ror.org/055khg266","country_code":"FR","type":"education","lineage":["https://openalex.org/I185839726"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Chaillet","raw_affiliation_strings":["CentraleSupeléc, Univ. Paris Saclay,Laboratoire des Signaux et Systèmes,Gif sur Yvette,France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","IUF - Institut universitaire de France (Maison des Universit\u00e9s 103 Boulevard Saint-Michel 75005 Paris - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CentraleSupeléc, Univ. Paris Saclay,Laboratoire des Signaux et Systèmes,Gif sur Yvette,France","institution_ids":["https://openalex.org/I4210097418"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]},{"raw_affiliation_string":"IUF - Institut universitaire de France (Maison des Universit\u00e9s 103 Boulevard Saint-Michel 75005 Paris - France)","institution_ids":["https://openalex.org/I185839726"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"341","last_page":"348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9973999857902527,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9674999713897705,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7865138053894043},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7144957780838013},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6357848644256592},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.6251925230026245},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6088641285896301},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.574414849281311},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5123776197433472},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5063499212265015},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47717538475990295},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.43751320242881775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3466620445251465},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27281999588012695},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11502379179000854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08284822106361389},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07648688554763794}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7865138053894043},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7144957780838013},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6357848644256592},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.6251925230026245},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6088641285896301},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.574414849281311},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5123776197433472},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5063499212265015},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47717538475990295},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.43751320242881775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3466620445251465},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27281999588012695},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11502379179000854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08284822106361389},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07648688554763794},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ccta49430.2022.9966034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966034","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ntnuopen.ntnu.no:11250/3123555","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3123555","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/3123555/1/Journal_paper_TCST_UPAS%2b%252810%2529.pdf","source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:HAL:hal-04352503v1","is_oa":false,"landing_page_url":"https://centralesupelec.hal.science/hal-04352503","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA), Aug 2022, Trieste, Italy. ⟨10.1109/CCTA49430.2022.9966034⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:ntnuopen.ntnu.no:11250/3055237","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3055237","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the IEEE Conference on Control Applications","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:ntnuopen.ntnu.no:11250/3123555","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3123555","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/3123555/1/Journal_paper_TCST_UPAS%2b%252810%2529.pdf","source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G7688019581","display_name":null,"funder_award_id":"223254","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312864002.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1961413356","https://openalex.org/W2017533233","https://openalex.org/W2024534444","https://openalex.org/W2024594012","https://openalex.org/W2056295178","https://openalex.org/W2056659978","https://openalex.org/W2083480020","https://openalex.org/W2097899744","https://openalex.org/W2109656638","https://openalex.org/W2126479355","https://openalex.org/W2140515911","https://openalex.org/W2148511010","https://openalex.org/W2162672892","https://openalex.org/W2163045496","https://openalex.org/W2170957244","https://openalex.org/W2294829212","https://openalex.org/W2295731450","https://openalex.org/W2341842997","https://openalex.org/W2503009799","https://openalex.org/W2617884711","https://openalex.org/W2762753750","https://openalex.org/W2805010241","https://openalex.org/W2896206329","https://openalex.org/W6683919976"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W2050693590","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"Lyapunov":[3],"theory":[4],"for":[5,66,76],"uniform":[6],"practical":[7],"asymptotic":[8],"stability":[9],"(UPAS)":[10],"is":[11,35],"presented":[12],"and":[13,73],"utilized":[14,86],"to":[15,44,48,87,117],"solve":[16],"the":[17,45,92,104,108,119],"problem":[18],"of":[19,22,33,68,78,94],"position":[20,93],"control":[21],"a":[23,30,49,58,63,69,74,101],"planar":[24],"underwater":[25],"snake":[26],"robot":[27],"(USR).":[28],"First,":[29],"precise":[31],"definition":[32],"UPAS":[34,67,77],"presented,":[36],"which":[37],"imposes":[38],"that,":[39],"locally,":[40],"all":[41],"solutions":[42],"converge":[43],"origin":[46],"up":[47],"steady-state":[50],"error":[51],"that":[52,90,103],"can":[53],"be":[54],"arbitrarily":[55],"reduced":[56],"by":[57],"convenient":[59],"parameter":[60],"tuning.":[61],"Additionally,":[62],"sufficient":[64],"condition":[65],"time-varying":[70],"nonlinear":[71],"system":[72],"theorem":[75],"cascaded":[79],"systems":[80],"are":[81,84,114],"presented.":[82],"These":[83],"then":[85,115],"design":[88],"controllers":[89],"stabilize":[91],"an":[95],"USR":[96,105],"when":[97],"approaching":[98],"from":[99,111],"such":[100],"direction":[102],"moves":[106],"against":[107],"current.":[109],"Results":[110],"numerical":[112],"simulations":[113],"investigated":[116],"validate":[118],"theoretical":[120],"results.":[121]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-27T08:26:11.824852","created_date":"2025-10-10T00:00:00"}