{"id":"https://openalex.org/W7155053613","doi":"https://doi.org/10.1109/icara69401.2026.11480396","title":"A Cooperative SMC and Fuzzy RBF Neural Network Architecture for Underwater Manipulator Control","display_name":"A Cooperative SMC and Fuzzy RBF Neural Network Architecture for Underwater Manipulator Control","publication_year":2026,"publication_date":"2026-02-05","ids":{"openalex":"https://openalex.org/W7155053613","doi":"https://doi.org/10.1109/icara69401.2026.11480396"},"language":null,"primary_location":{"id":"doi:10.1109/icara69401.2026.11480396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","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/A5134143859","display_name":"Kai Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Yuan","raw_affiliation_strings":["Early Warning Academy,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Early Warning Academy,Wuhan,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134164506","display_name":"Jianzhou Quan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianzhou Quan","raw_affiliation_strings":["Early Warning Academy,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Early Warning Academy,Wuhan,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134188806","display_name":"Kai Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Sun","raw_affiliation_strings":["Early Warning Academy,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Early Warning Academy,Wuhan,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134209324","display_name":"Ke Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ke Cao","raw_affiliation_strings":["Early Warning Academy,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Early Warning Academy,Wuhan,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052221582","display_name":"Cui Jian","orcid":null},"institutions":[{"id":"https://openalex.org/I115212828","display_name":"Beijing Language and Culture University","ror":"https://ror.org/03te2zs36","country_code":"CN","type":"education","lineage":["https://openalex.org/I115212828"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Cui","raw_affiliation_strings":["Beijing Hongtairunxin Culture Technology Co., Ltd.,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Hongtairunxin Culture Technology Co., Ltd.,Beijing,China","institution_ids":["https://openalex.org/I115212828"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100767738","display_name":"Tao Huang","orcid":"https://orcid.org/0000-0002-8098-8906"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao Huang","raw_affiliation_strings":["Early Warning Academy,Wuhan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Early Warning Academy,Wuhan,China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3731248,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"30","last_page":"35"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.22939999401569366,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.22939999401569366,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.22220000624656677,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.10239999741315842,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.5306000113487244},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.521399974822998},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.48190000653266907},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.46630001068115234},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4641000032424927},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.428600013256073}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5892000198364258},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5306000113487244},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.521399974822998},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48249998688697815},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.48190000653266907},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.46630001068115234},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4641000032424927},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.428600013256073},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.37720000743865967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3693000078201294},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.32359999418258667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32350000739097595},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C82327864","wikidata":"https://www.wikidata.org/wiki/Q835100","display_name":"Intelligent control","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.28790000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara69401.2026.11480396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2016770250","https://openalex.org/W2039925844","https://openalex.org/W2059957264","https://openalex.org/W2343693428","https://openalex.org/W2816843839","https://openalex.org/W3002223059","https://openalex.org/W4316468757","https://openalex.org/W4377095838","https://openalex.org/W4386457343","https://openalex.org/W4389039455","https://openalex.org/W4389355842","https://openalex.org/W4389441167"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,31,101,104,108,124,128,170],"challenging":[4],"problem":[5],"of":[6,92,103,127,172],"trajectory":[7],"tracking":[8,167],"control":[9,24,56,62,163],"for":[10,89],"a":[11,53,65,84],"3-DOF":[12],"underwater":[13,45],"manipulator":[14],"operating":[15],"under":[16],"significant":[17],"hydrodynamic":[18,173],"uncertainties":[19,81],"and":[20,37,153,165],"external":[21],"disturbances.":[22,174],"Traditional":[23],"methods":[25],"often":[26],"prove":[27],"inadequate":[28],"due":[29],"to":[30,78,146],"inherent":[32],"nonlinearities,":[33],"strong":[34],"coupling":[35],"effects,":[36],"difficulties":[38],"in":[39,44,135,169],"obtaining":[40],"accurate":[41],"dynamic":[42],"models":[43],"environments.":[46],"To":[47],"overcome":[48],"these":[49],"limitations,":[50],"we":[51],"propose":[52],"novel":[54],"hybrid":[55],"strategy":[57],"that":[58,138],"integrates":[59],"sliding":[60],"mode":[61],"(SMC)":[63],"with":[64,156],"fuzzy":[66,85,97],"radial":[67],"basis":[68],"function":[69],"(RBF)":[70],"neural":[71,87,105,150],"network.":[72],"The":[73,96],"proposed":[74,140],"controller":[75],"employs":[76],"SMC":[77],"handle":[79],"system":[80],"while":[82,107],"utilizing":[83],"RBF":[86,109,149],"network":[88,151],"comprehensive":[90],"approximation":[91],"unknown":[93],"nonlinear":[94],"dynamics.":[95],"logic":[98],"component":[99],"enhances":[100],"interpretability":[102],"network,":[106],"structure":[110],"enables":[111],"efficient":[112],"parallel":[113],"computation.":[114],"Theoretical":[115],"analysis":[116],"based":[117],"on":[118],"Lyapunov":[119],"stability":[120,126],"theory":[121],"rigorously":[122],"proves":[123],"asymptotic":[125],"closed-loop":[129],"system.":[130],"Extensive":[131],"simulation":[132],"studies":[133],"conducted":[134],"MATLAB/Simulink":[136],"demonstrate":[137],"our":[139],"method":[141],"achieves":[142],"superior":[143],"performance":[144],"compared":[145],"both":[147],"conventional":[148],"controllers":[152],"pure":[154],"SMC,":[155],"significantly":[157],"reduced":[158],"steady-state":[159],"errors,":[160],"more":[161],"stable":[162],"inputs,":[164],"improved":[166],"precision":[168],"presence":[171]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-04-22T00:00:00"}