{"id":"https://openalex.org/W2970454782","doi":"https://doi.org/10.1109/cdc40024.2019.9030165","title":"Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles","display_name":"Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2970454782","doi":"https://doi.org/10.1109/cdc40024.2019.9030165","mag":"2970454782"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9030165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9030165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.10175","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057756552","display_name":"Shahab Heshmati-Alamdari","orcid":"https://orcid.org/0000-0001-9444-446X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Shahab Heshmati-alamdari","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology,Division of Decision and Control Systems,School of Electrical Engineering and Computer Science,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,School of Electrical Engineering and Computer Science,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005176879","display_name":"Alexandros Nikou","orcid":"https://orcid.org/0000-0002-8696-1536"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Alexandros Nikou","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology,Division of Decision and Control Systems,School of Electrical Engineering and Computer Science,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,School of Electrical Engineering and Computer Science,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057756552"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.82632624,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.7387092,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8311","last_page":"8316"},"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":0.996999979019165,"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":0.9961000084877014,"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/workspace","display_name":"Workspace","score":0.861750602722168},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8465378284454346},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7074571847915649},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5624804496765137},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.518281877040863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4984405040740967},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4945966899394989},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4851277768611908},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4296693801879883},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4155488610267639},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38288795948028564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30747273564338684},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24459588527679443},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24324443936347961},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19474783539772034}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.861750602722168},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8465378284454346},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7074571847915649},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5624804496765137},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.518281877040863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4984405040740967},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4945966899394989},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4851277768611908},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4296693801879883},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4155488610267639},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38288795948028564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30747273564338684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24459588527679443},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24324443936347961},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19474783539772034},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/cdc40024.2019.9030165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9030165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.10175","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.10175","pdf_url":"https://arxiv.org/pdf/1908.10175","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2970454782","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1908.10175.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:DiVA.org:kth-264985","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264985","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"},{"id":"doi:10.48550/arxiv.1908.10175","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1908.10175","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.10175","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.10175","pdf_url":"https://arxiv.org/pdf/1908.10175","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8100000023841858,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W102256072","https://openalex.org/W1504700297","https://openalex.org/W1590684588","https://openalex.org/W1631623342","https://openalex.org/W1971814691","https://openalex.org/W1978956894","https://openalex.org/W1998663911","https://openalex.org/W2002870652","https://openalex.org/W2041109651","https://openalex.org/W2047749749","https://openalex.org/W2049781019","https://openalex.org/W2051704810","https://openalex.org/W2070150541","https://openalex.org/W2076738229","https://openalex.org/W2089916727","https://openalex.org/W2110703708","https://openalex.org/W2116554046","https://openalex.org/W2145014642","https://openalex.org/W2146500120","https://openalex.org/W2147150927","https://openalex.org/W2150282654","https://openalex.org/W2150749340","https://openalex.org/W2153596355","https://openalex.org/W2212654072","https://openalex.org/W2216417111","https://openalex.org/W2267184893","https://openalex.org/W2346634033","https://openalex.org/W2549239137","https://openalex.org/W2592045034","https://openalex.org/W2808614814","https://openalex.org/W2893681226","https://openalex.org/W2896248949","https://openalex.org/W2945973641","https://openalex.org/W2951933457","https://openalex.org/W2952127625","https://openalex.org/W2963204102","https://openalex.org/W2963238138","https://openalex.org/W2964257036","https://openalex.org/W2964306184","https://openalex.org/W2968176657","https://openalex.org/W2978951642","https://openalex.org/W2995010020","https://openalex.org/W3026829485","https://openalex.org/W3035931270","https://openalex.org/W3039205832","https://openalex.org/W3129654721"],"related_works":["https://openalex.org/W2995010020","https://openalex.org/W1552860050","https://openalex.org/W2005085811","https://openalex.org/W2978951642","https://openalex.org/W3021628642","https://openalex.org/W1882865918","https://openalex.org/W2172147923","https://openalex.org/W1579813518","https://openalex.org/W2889690238","https://openalex.org/W2783759523","https://openalex.org/W3034944244","https://openalex.org/W1971814691","https://openalex.org/W2121100924","https://openalex.org/W2014917749","https://openalex.org/W2604459962","https://openalex.org/W2019728286","https://openalex.org/W2099740514","https://openalex.org/W2953707403","https://openalex.org/W2154523949","https://openalex.org/W2147150927"],"abstract_inverted_index":{"Motion":[0],"control":[1,28,47,180],"of":[2,21,79,96,125,148,155,169,183,193,243],"underwater":[3,36,54],"robotic":[4,55],"vehicles":[5,56,86],"is":[6,29,74,99,129,159,190,212],"a":[7,59,66,106,116,142,194,207,224,235],"demanding":[8],"task":[9],"with":[10,109,153],"great":[11],"challenges":[12],"imposed":[13],"by":[14,140],"external":[15,170],"disturbances,":[16],"model":[17,163],"uncertainties":[18,165],"and":[19,92,112,119,166,175,206,215,241],"constraints":[20,114],"the":[22,35,45,77,97,102,123,126,134,146,149,156,162,167,191,203,218,228,239,244],"operating":[23,57,127],"workspace.":[24],"Thus,":[25],"robust":[26,67],"motion":[27],"still":[30],"an":[31,186],"open":[32],"issue":[33],"for":[34,52,76,202,231],"robotics":[37],"community.":[38],"In":[39,64,138],"that":[40,144,217],"sense,":[41],"this":[42],"paper":[43],"addresses":[44],"tracking":[46],"problem":[48],"or":[49],"3D":[50],"trajectories":[51,220,230],"underactuated":[53,80,103],"in":[58,89,223],"constrained":[60],"workspace":[61,128],"including":[62],"obstacles.":[63],"particular,":[65,139],"Nonlinear":[68],"Model":[69],"Predictive":[70],"Control":[71,198],"(NMPC)":[72],"scheme":[73],"presented":[75],"case":[78],"Autonomous":[81],"Underwater":[82],"Vehicles":[83],"(AUVs)":[84],"(i.e.,":[85],"actuated":[87],"only":[88],"surge,":[90],"heave":[91],"yaw).":[93],"The":[94,177],"purpose":[95],"controller":[98],"to":[100,105],"steer":[101],"AUV":[104],"desired":[107],"trajectory":[108],"guaranteed":[110],"input":[111],"state":[113,208],"within":[115],"partially":[117],"known":[118],"dynamic":[120,164],"environment":[121],"where":[122],"knowledge":[124],"constantly":[130],"updated":[131],"on-line":[132],"via":[133],"vehicle's":[135],"on-board":[136],"sensors.":[137],"considering":[141],"ball":[143],"covers":[145],"volume":[147],"system,":[150],"obstacle":[151],"avoidance":[152],"any":[154],"detected":[157],"obstacles":[158],"guaranteed,":[160],"despite":[161],"presence":[168],"disturbances":[171],"representing":[172],"ocean":[173],"currents":[174],"waves.":[176],"proposed":[178,245],"feedback":[179,209],"law":[181,188,210],"consists":[182],"two":[184],"parts:":[185],"online":[187],"which":[189,211],"result":[192],"Finite":[195],"Horizon":[196],"Optimal":[197],"Problem":[199],"(FHOCP)":[200],"solved":[201],"nominal":[204,229],"dynamics;":[205],"tuned":[213],"off-line":[214],"guarantees":[216],"real":[219],"remain":[221],"bound":[222],"hyper-tube":[225],"centered":[226],"along":[227],"all":[232],"times.":[233],"Finally,":[234],"simulation":[236],"study":[237],"verifies":[238],"performance":[240],"efficiency":[242],"approach.":[246]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}