{"id":"https://openalex.org/W1984723199","doi":"https://doi.org/10.1109/cdc.2011.6161411","title":"Seabed tracking of an autonomous underwater vehicle with nonlinear output regulation","display_name":"Seabed tracking of an autonomous underwater vehicle with nonlinear output regulation","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1984723199","doi":"https://doi.org/10.1109/cdc.2011.6161411","mag":"1984723199"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6161411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6161411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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/A5025335859","display_name":"Aras Adhami-Mirhosseini","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"A. Adhami-Mirhosseini","raw_affiliation_strings":["Control and Intelligent Processing Center of Excellence, University of Tehran, Tehran, Iran","Control and Intelligent Processing Center of Excellence, University of Tehran, P.O. Box 14395/515, Iran"],"affiliations":[{"raw_affiliation_string":"Control and Intelligent Processing Center of Excellence, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Control and Intelligent Processing Center of Excellence, University of Tehran, P.O. Box 14395/515, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science (LARSyS), Institute Superior Tecnico (IST), Technical University of Lisbon, Lisboa, Portugal","Lab. of Robotics and Systems in Engineering and Science (LARSyS), Inst. Superior Tecnico (IST), Technical University of Lisbon, Av. Rovisco Pais, 1049-001 Lisboa, Portugal"],"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science (LARSyS), Institute Superior Tecnico (IST), Technical University of Lisbon, Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"Lab. of Robotics and Systems in Engineering and Science (LARSyS), Inst. Superior Tecnico (IST), Technical University of Lisbon, Av. Rovisco Pais, 1049-001 Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086648677","display_name":"Mohammad Javad Yazdanpanah","orcid":"https://orcid.org/0000-0001-7098-8331"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. J. Yazdanpanah","raw_affiliation_strings":["Control and Intelligent Processing Center of Excellence, University of Tehran, Tehran, Iran","Control and Intelligent Processing Center of Excellence, University of Tehran, P.O. Box 14395/515, Iran"],"affiliations":[{"raw_affiliation_string":"Control and Intelligent Processing Center of Excellence, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Control and Intelligent Processing Center of Excellence, University of Tehran, P.O. Box 14395/515, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025335859"],"corresponding_institution_ids":["https://openalex.org/I23946033"],"apc_list":null,"apc_paid":null,"fwci":3.9416,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.93250374,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3928","last_page":"3933"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9983000159263611,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9919999837875366,"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/seabed","display_name":"Seabed","score":0.7763769626617432},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7014579176902771},{"id":"https://openalex.org/keywords/fourier-series","display_name":"Fourier series","score":0.6788034439086914},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6216205358505249},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5950844883918762},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5870807766914368},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5775225758552551},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5550419092178345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.53221595287323},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.4415208697319031},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.41262054443359375},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3518141508102417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27926400303840637},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2462712526321411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1875474750995636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.167892187833786},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16708937287330627},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06951457262039185}],"concepts":[{"id":"https://openalex.org/C33613203","wikidata":"https://www.wikidata.org/wiki/Q468469","display_name":"Seabed","level":2,"score":0.7763769626617432},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7014579176902771},{"id":"https://openalex.org/C207864730","wikidata":"https://www.wikidata.org/wiki/Q179467","display_name":"Fourier series","level":2,"score":0.6788034439086914},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6216205358505249},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5950844883918762},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5870807766914368},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5775225758552551},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5550419092178345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53221595287323},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.4415208697319031},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.41262054443359375},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3518141508102417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27926400303840637},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2462712526321411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1875474750995636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.167892187833786},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16708937287330627},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06951457262039185},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2011.6161411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6161411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.939.4964","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.939.4964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nt.ntnu.no/users/skoge/prost/proceedings/cdc-ecc-2011/data/papers/2137.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.958.6863","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.958.6863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://paginas.fe.up.pt/%7Eapra/publications/cdc2011_Seabed.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W296003671","https://openalex.org/W597759326","https://openalex.org/W1558122728","https://openalex.org/W1590684588","https://openalex.org/W1887006513","https://openalex.org/W2017518522","https://openalex.org/W2028522134","https://openalex.org/W2107414619","https://openalex.org/W2119511013","https://openalex.org/W2119925384","https://openalex.org/W2145682786","https://openalex.org/W2164491602","https://openalex.org/W2168421462","https://openalex.org/W2312915715","https://openalex.org/W3160954918","https://openalex.org/W4213367573","https://openalex.org/W4249919931","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W1989690058","https://openalex.org/W2056580067","https://openalex.org/W2942933457","https://openalex.org/W2050626321","https://openalex.org/W2007211353","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,13,70],"new":[4],"control":[5,33],"algorithm":[6],"for":[7],"automatic":[8],"seabed":[9,25,64,86,124],"tracking":[10,65,72],"performed":[11],"by":[12],"low":[14],"cost":[15],"autonomous":[16],"underwater":[17],"vehicle":[18],"subject":[19],"to":[20,36,52,83,107,111],"the":[21,24,38,41,54,57,63,75,85,96,99,109,114,127,130],"fact":[22],"that":[23,95],"profile":[26],"is":[27,67,78,94],"not":[28],"known":[29],"in":[30,40],"advance.":[31],"The":[32],"design":[34],"amounts":[35],"cast":[37],"problem":[39,66,73,105],"framework":[42],"of":[43,56,91,98,129],"nonlinear":[44],"output":[45,103],"regulation":[46,104],"theory":[47],"combined":[48],"with":[49,102,122],"pseudo-spectral":[50],"methods":[51],"approximate":[53,84],"solutions":[55],"regulator":[58],"equations.":[59],"To":[60],"this":[61,92],"end,":[62],"re-formulated":[68],"as":[69],"trajectory":[71],"and":[74,119],"reference":[76],"signal":[77],"constructed":[79],"using":[80],"Fourier":[81,100,115],"series":[82,101],"profiles.":[87],"An":[88],"interesting":[89],"feature":[90],"approach":[93],"combination":[97],"allows":[106],"bypass":[108],"need":[110],"compute":[112],"explicitly":[113],"coefficients.":[116],"Stability":[117],"analysis":[118],"simulation":[120],"results":[121],"real":[123],"data":[125],"show":[126],"effectiveness":[128],"proposed":[131],"controller.":[132]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}