{"id":"https://openalex.org/W1973718327","doi":"https://doi.org/10.1109/icra.2014.6907822","title":"Motion control for autonomous underwater vehicles: A robust model — Free approach","display_name":"Motion control for autonomous underwater vehicles: A robust model — Free approach","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1973718327","doi":"https://doi.org/10.1109/icra.2014.6907822","mag":"1973718327"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5041412987","display_name":"George C. Karras","orcid":"https://orcid.org/0000-0002-4045-4715"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"George C. Karras","raw_affiliation_strings":["School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","School of Mechanical Engineering, National Technical University of Athens, Athens, 15780, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, 15780, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020695725","display_name":"Charalampos P. Bechlioulis","orcid":"https://orcid.org/0000-0001-9850-2540"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Charalampos P. Bechlioulis","raw_affiliation_strings":["School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","School of Mechanical Engineering, National Technical University of Athens, Athens, 15780, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, 15780, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071897744","display_name":"Sharad Nagappa","orcid":null},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sharad Nagappa","raw_affiliation_strings":["University of Girona, Girona, Spain","University of Girona, Edifici Politecnica IV, Campus Montilivi, Girona 17071, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]},{"raw_affiliation_string":"University of Girona, Edifici Politecnica IV, Campus Montilivi, Girona 17071, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034154763","display_name":"Narc\u00eds Palomeras","orcid":"https://orcid.org/0000-0002-2266-9624"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Narcis Palomeras","raw_affiliation_strings":["University of Girona, Girona, Spain","University of Girona, Edifici Politecnica IV, Campus Montilivi, Girona 17071, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]},{"raw_affiliation_string":"University of Girona, Edifici Politecnica IV, Campus Montilivi, Girona 17071, Spain","institution_ids":["https://openalex.org/I251424209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Kostas J. Kyriakopoulos","raw_affiliation_strings":["School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","School of Mechanical Engineering, National Technical University of Athens, Athens, 15780, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, 15780, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018440853","display_name":"Marc Carreras","orcid":"https://orcid.org/0000-0003-3117-9691"},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Marc Carreras","raw_affiliation_strings":["University of Girona, Girona, Spain","University of Girona, Edifici Politecnica IV, Campus Montilivi, Girona 17071, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Girona, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]},{"raw_affiliation_string":"University of Girona, Edifici Politecnica IV, Campus Montilivi, Girona 17071, Spain","institution_ids":["https://openalex.org/I251424209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0519,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.87448192,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"45","issue":null,"first_page":"6529","last_page":"6534"},"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9908000230789185,"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/control-theory","display_name":"Control theory (sociology)","score":0.7184109687805176},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5729694366455078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5685255527496338},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5559704303741455},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5524649620056152},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.5484254956245422},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5332678556442261},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5280680656433105},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5166962146759033},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.49712732434272766},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48630914092063904},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4859524965286255},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4826243817806244},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4645514190196991},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4637826681137085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3447904586791992},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3324519991874695},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3160519301891327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30662721395492554},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.13538900017738342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11790207028388977},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07540258765220642}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7184109687805176},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5729694366455078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5685255527496338},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5559704303741455},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5524649620056152},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.5484254956245422},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5332678556442261},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5280680656433105},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5166962146759033},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.49712732434272766},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48630914092063904},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4859524965286255},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4826243817806244},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4645514190196991},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4637826681137085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3447904586791992},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3324519991874695},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3160519301891327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30662721395492554},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.13538900017738342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11790207028388977},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07540258765220642},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1504700297","https://openalex.org/W1590684588","https://openalex.org/W2002675616","https://openalex.org/W2047749749","https://openalex.org/W2057759741","https://openalex.org/W2076597241","https://openalex.org/W2097121541","https://openalex.org/W2125327059","https://openalex.org/W2129992565","https://openalex.org/W2133754447","https://openalex.org/W2149176325","https://openalex.org/W2150749340","https://openalex.org/W2164224170","https://openalex.org/W2167533089","https://openalex.org/W4239216443","https://openalex.org/W6679426372"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3217214504","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2145006118","https://openalex.org/W2145922707","https://openalex.org/W1524683553","https://openalex.org/W2810725684","https://openalex.org/W2137525473"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,28,41,48,94,116,120,134],"design":[4],"and":[5,32,36,57,60,82,88,103],"implementation":[6],"of":[7,27,43,54,71,122],"a":[8,106,128],"robust":[9],"position":[10],"tracking":[11],"control":[12,69,76],"scheme":[13,52,77],"for":[14],"an":[15,67,72],"Autonomous":[16],"Underwater":[17],"Vehicle":[18],"(AUV).":[19],"The":[20,50,74],"proposed":[21,75],"controller":[22],"does":[23],"not":[24],"require":[25],"knowledge":[26],"vehicle's":[29],"dynamic":[30],"parameters":[31],"guarantees":[33],"prescribed":[34],"transient":[35],"steady":[37],"state":[38],"performance":[39,89],"despite":[40],"presence":[42],"external":[44,124],"disturbances":[45,125],"acting":[46],"on":[47,133],"vehicle.":[49],"resulting":[51],"is":[53],"low":[55],"complexity":[56],"computational":[58],"cost":[59],"thus":[61],"can":[62],"be":[63],"easily":[64],"integrated":[65],"to":[66,105],"embedded":[68],"platform":[70],"AUV.":[73],"has":[78],"analytically":[79],"guaranteed":[80],"stability":[81],"convergence":[83],"properties,":[84],"while":[85],"its":[86],"applicability":[87],"are":[90],"experimentally":[91],"verified":[92],"using":[93],"Girona500":[95,135],"AUV":[96],"into":[97],"two":[98],"different":[99],"missions:":[100],"a)":[101],"navigation":[102],"stabilization":[104],"specific":[107],"configuration,":[108],"b)":[109],"meandrus-like":[110],"trajectory":[111],"tracking.":[112],"In":[113],"both":[114],"cases":[115],"vehicle":[117],"was":[118],"under":[119],"influence":[121],"time-varying":[123],"caused":[126],"by":[127],"high-pressure":[129],"water":[130],"jet":[131],"installed":[132],"manipulator.":[136]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}