{"id":"https://openalex.org/W2077479054","doi":"https://doi.org/10.1109/coase.2013.6653951","title":"Robust position control of an autonomous underwater vehicle: A comparative study","display_name":"Robust position control of an autonomous underwater vehicle: A comparative study","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W2077479054","doi":"https://doi.org/10.1109/coase.2013.6653951","mag":"2077479054"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2013.6653951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6653951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5070060702","display_name":"S. Roy","orcid":"https://orcid.org/0000-0002-2238-9542"},"institutions":[{"id":"https://openalex.org/I70735523","display_name":"Central Mechanical Engineering Research Institute","ror":"https://ror.org/059h0ng81","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I4210134808","https://openalex.org/I66760702","https://openalex.org/I70735523"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Spandan Roy","raw_affiliation_strings":["Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","institution_ids":["https://openalex.org/I70735523"]},{"raw_affiliation_string":"Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India","institution_ids":["https://openalex.org/I70735523"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067349819","display_name":"Sambhunath Nandy","orcid":"https://orcid.org/0000-0003-1078-8156"},"institutions":[{"id":"https://openalex.org/I70735523","display_name":"Central Mechanical Engineering Research Institute","ror":"https://ror.org/059h0ng81","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I4210134808","https://openalex.org/I66760702","https://openalex.org/I70735523"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sambhunath Nandy","raw_affiliation_strings":["Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","institution_ids":["https://openalex.org/I70735523"]},{"raw_affiliation_string":"Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India","institution_ids":["https://openalex.org/I70735523"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113642416","display_name":"Sankar Nath Shome","orcid":null},"institutions":[{"id":"https://openalex.org/I70735523","display_name":"Central Mechanical Engineering Research Institute","ror":"https://ror.org/059h0ng81","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I4210134808","https://openalex.org/I66760702","https://openalex.org/I70735523"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sankar Nath Shome","raw_affiliation_strings":["Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","institution_ids":["https://openalex.org/I70735523"]},{"raw_affiliation_string":"Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India","institution_ids":["https://openalex.org/I70735523"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041548235","display_name":"R.K. Ray","orcid":"https://orcid.org/0000-0001-6276-5920"},"institutions":[{"id":"https://openalex.org/I70735523","display_name":"Central Mechanical Engineering Research Institute","ror":"https://ror.org/059h0ng81","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I4210134808","https://openalex.org/I66760702","https://openalex.org/I70735523"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ranjit Ray","raw_affiliation_strings":["Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India","institution_ids":["https://openalex.org/I70735523"]},{"raw_affiliation_string":"Robot. & Autom. Lab., Central Mech. Eng. Res. Inst., Durgapur, India","institution_ids":["https://openalex.org/I70735523"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I70735523"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7757146954536438},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6822661757469177},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6729975342750549},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6347513794898987},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.633887529373169},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.594498872756958},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5529235601425171},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5101637840270996},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5021226406097412},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44591546058654785},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4397602677345276},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4247516989707947},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4177030920982361},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.35739248991012573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33170172572135925},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22545158863067627},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16202959418296814},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15312671661376953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1283026933670044},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11416232585906982}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7757146954536438},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6822661757469177},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6729975342750549},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6347513794898987},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.633887529373169},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.594498872756958},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5529235601425171},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5101637840270996},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5021226406097412},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44591546058654785},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4397602677345276},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4247516989707947},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4177030920982361},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35739248991012573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33170172572135925},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22545158863067627},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16202959418296814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15312671661376953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1283026933670044},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11416232585906982},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2013.6653951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6653951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1573027408","https://openalex.org/W1590684588","https://openalex.org/W1948254174","https://openalex.org/W1949214303","https://openalex.org/W1955880755","https://openalex.org/W2034427367","https://openalex.org/W2064300866","https://openalex.org/W2116656070","https://openalex.org/W2119835619","https://openalex.org/W2122075174","https://openalex.org/W2147150927","https://openalex.org/W2164452937","https://openalex.org/W2913029247","https://openalex.org/W3158150808","https://openalex.org/W6758748992"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W2071768959","https://openalex.org/W4319442894","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W4372267671","https://openalex.org/W4312756471"],"abstract_inverted_index":{"The":[0,51],"highly":[1],"non-linear":[2],"and":[3,17,41],"coupled":[4],"dynamics":[5],"of":[6,27,45,58,67,72,96,108,127],"Autonomous":[7],"Underwater":[8],"Vehicles":[9],"(AUVs),":[10],"added":[11],"with":[12,89],"modeling":[13],"errors,":[14],"parametric":[15],"uncertainties":[16],"payload":[18],"variations":[19],"pose":[20],"a":[21,59,144],"major":[22],"challenge":[23],"towards":[24],"autonomous":[25],"control":[26,44,53],"AUVs":[28,68],"for":[29,62],"various":[30],"application":[31],"requirements.":[32],"Environmental":[33],"hazards":[34],"such":[35],"as":[36],"ocean":[37],"currents":[38],"sometimes":[39],"dominate":[40],"make":[42],"the":[43,56,70,90,94,97,104,123,128,133],"underwater":[46],"systems":[47],"even":[48],"more":[49],"complicated.":[50],"proposed":[52],"technique":[54],"addresses":[55],"design":[57],"robust":[60],"controller":[61,98,124,129],"reasonably":[63],"accurate":[64],"path":[65],"tracking":[66],"incorporating":[69],"effects":[71],"above":[73],"uncertain":[74],"paradigms":[75],"within":[76],"some":[77],"known":[78],"bounds.":[79],"It":[80],"is":[81,87,113,119,130],"well-known":[82],"that":[83],"measurement":[84],"noise,":[85],"which":[86,112],"associated":[88],"navigational":[91],"sensors,":[92],"degrades":[93],"performance":[95],"leading":[99],"to":[100,121],"substantial":[101],"deviation":[102],"from":[103],"reference":[105],"path.":[106],"Incorporation":[107],"sensor":[109],"fusion":[110],"technique,":[111],"driven":[114],"by":[115],"sensors":[116],"error":[117],"characteristics,":[118],"necessary":[120],"improve":[122],"performance.":[125],"Performance":[126],"verified":[131],"using":[132],"real-life":[134],"parameters":[135],"an":[136],"AUV,":[137],"developed":[138],"at":[139],"CSIR-CMERI,":[140],"Durgapur,":[141],"India":[142],"considering":[143],"few":[145],"uncertainties.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}