{"id":"https://openalex.org/W1504985399","doi":"https://doi.org/10.1109/cdc.2003.1272781","title":"Nonlinear path following with applications to the control of autonomous underwater vehicles","display_name":"Nonlinear path following with applications to the control of autonomous underwater vehicles","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W1504985399","doi":"https://doi.org/10.1109/cdc.2003.1272781","mag":"1504985399"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2003.1272781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1272781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","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/A5035775898","display_name":"L. Lapierre","orcid":"https://orcid.org/0000-0002-4320-2118"},"institutions":[{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"L. Lapierre","raw_affiliation_strings":["Institute for Systems and Robotics and Department Electrical Engineering and Computers, Instituto Superior T\u00e9cnico, Lisboa, Portugal","Dept. of Electr. Eng. & Comput., Inst. Superior Tecnico, Lisboa, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics and Department Electrical Engineering and Computers, Instituto Superior T\u00e9cnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput., Inst. Superior Tecnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026015815","display_name":"D. Soetanto","orcid":null},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"D. Soetanto","raw_affiliation_strings":["Institute for Systems and Robotics and Department Electrical Engineering and Computers, Instituto Superior T\u00e9cnico, Lisboa, Portugal","Dept. of Electr. Eng. & Comput., Inst. Superior Tecnico, Lisboa, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics and Department Electrical Engineering and Computers, Instituto Superior T\u00e9cnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput., Inst. Superior Tecnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I4387152517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042146195","display_name":"A. Pascoal","orcid":"https://orcid.org/0000-0002-0657-6671"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I203847022","display_name":"Instituto Polit\u00e9cnico de Lisboa","ror":"https://ror.org/04ea70f07","country_code":"PT","type":"education","lineage":["https://openalex.org/I203847022"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pascoal","raw_affiliation_strings":["Institute for Systems and Robotics and Department Electrical Engineering and Computers, Instituto Superior T\u00e9cnico, Lisboa, Portugal","Dept. of Electr. Eng. & Comput., Inst. Superior Tecnico, Lisboa, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics and Department Electrical Engineering and Computers, Instituto Superior T\u00e9cnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput., Inst. Superior Tecnico, Lisboa, Portugal","institution_ids":["https://openalex.org/I203847022","https://openalex.org/I4387152517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035775898"],"corresponding_institution_ids":["https://openalex.org/I203847022","https://openalex.org/I4387152517"],"apc_list":null,"apc_paid":null,"fwci":17.3847,"has_fulltext":false,"cited_by_count":174,"citation_normalized_percentile":{"value":0.99122603,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":null,"first_page":"1256","last_page":"1261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"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":0.9991000294685364,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987999796867371,"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":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.9133021831512451},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7681611776351929},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6377328038215637},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.602940022945404},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.598511815071106},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5957238674163818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5304567217826843},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5127137899398804},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4937628209590912},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.48652786016464233},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4763646125793457},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4631006419658661},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42141228914260864},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.3390759825706482},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2827892303466797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09970992803573608},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06074586510658264}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9133021831512451},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7681611776351929},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6377328038215637},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.602940022945404},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.598511815071106},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5957238674163818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5304567217826843},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5127137899398804},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4937628209590912},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.48652786016464233},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4763646125793457},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4631006419658661},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42141228914260864},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3390759825706482},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2827892303466797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09970992803573608},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06074586510658264},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2003.1272781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2003.1272781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W32443946","https://openalex.org/W1590684588","https://openalex.org/W2090167557","https://openalex.org/W2129496494","https://openalex.org/W2129870396","https://openalex.org/W2619079668","https://openalex.org/W6601323021","https://openalex.org/W6986421541"],"related_works":["https://openalex.org/W1847613412","https://openalex.org/W4382203996","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2985456365","https://openalex.org/W2039235622","https://openalex.org/W2265298992","https://openalex.org/W70789149","https://openalex.org/W2292461600","https://openalex.org/W2892659929"],"abstract_inverted_index":{"This":[0],"paper":[1],"derives":[2],"a":[3,18,43],"control":[4,48,67,86],"law":[5,68],"to":[6,77],"steer":[7],"the":[8,52,72,82,85],"dynamic":[9],"model":[10],"of":[11,45,71,84],"an":[12],"autonomous":[13],"underwater":[14],"vehicle":[15,30],"(AUV)":[16],"along":[17],"desired":[19],"path.":[20],"The":[21,63],"methodology":[22],"adopted":[23],"for":[24],"path":[25,46,73],"following":[26,47,74],"deals":[27],"explicitly":[28],"with":[29],"dynamics.":[31],"Furthermore,":[32],"it":[33],"overcomes":[34],"stringent":[35],"initial":[36],"condition":[37],"constraints":[38],"that":[39],"are":[40],"present":[41],"in":[42,51],"number":[44],"strategies":[49],"described":[50],"literature.":[53],"Controller":[54],"design":[55],"builds":[56],"on":[57],"Lyapunov":[58],"theory":[59],"and":[60],"backstepping":[61],"techniques.":[62],"resulting":[64],"nonlinear":[65],"feedback":[66],"yields":[69],"convergence":[70],"error":[75],"trajectories":[76],"zero.":[78],"Simulation":[79],"results":[80],"illustrate":[81],"performance":[83],"system":[87],"proposed.":[88]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":16},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}