{"id":"https://openalex.org/W3207764013","doi":"https://doi.org/10.1109/icra48506.2021.9561367","title":"Backstepping and Sliding Mode Control for AUVs Aided with Bioinspired Neurodynamics","display_name":"Backstepping and Sliding Mode Control for AUVs Aided with Bioinspired Neurodynamics","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207764013","doi":"https://doi.org/10.1109/icra48506.2021.9561367","mag":"3207764013"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561367","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5012024695","display_name":"Zhe Xu","orcid":"https://orcid.org/0000-0001-7227-640X"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Zhe Xu","raw_affiliation_strings":["University of Guelph,School of Engineering,Guelph,Canada","School of Engineering, University of Guelph, Guelph, Canada"],"affiliations":[{"raw_affiliation_string":"University of Guelph,School of Engineering,Guelph,Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Simon X. Yang","raw_affiliation_strings":["University of Guelph,School of Engineering,Guelph,Canada","School of Engineering, University of Guelph, Guelph, Canada"],"affiliations":[{"raw_affiliation_string":"University of Guelph,School of Engineering,Guelph,Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070963003","display_name":"S. Andrew Gadsden","orcid":"https://orcid.org/0000-0003-3749-0878"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Andrew Gadsden","raw_affiliation_strings":["University of Guelph,School of Engineering,Guelph,Canada","School of Engineering, University of Guelph, Guelph, Canada"],"affiliations":[{"raw_affiliation_string":"University of Guelph,School of Engineering,Guelph,Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634693","display_name":"Junfei Li","orcid":"https://orcid.org/0000-0002-8038-5611"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Junfei Li","raw_affiliation_strings":["University of Guelph,School of Engineering,Guelph,Canada","School of Engineering, University of Guelph, Guelph, Canada"],"affiliations":[{"raw_affiliation_string":"University of Guelph,School of Engineering,Guelph,Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081298724","display_name":"Danjie Zhu","orcid":"https://orcid.org/0000-0002-9299-2494"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Danjie Zhu","raw_affiliation_strings":["University of Guelph,School of Engineering,Guelph,Canada","School of Engineering, University of Guelph, Guelph, Canada"],"affiliations":[{"raw_affiliation_string":"University of Guelph,School of Engineering,Guelph,Canada","institution_ids":["https://openalex.org/I79817857"]},{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, Canada","institution_ids":["https://openalex.org/I79817857"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5012024695"],"corresponding_institution_ids":["https://openalex.org/I79817857"],"apc_list":null,"apc_paid":null,"fwci":0.5493,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66280315,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2113","last_page":"2119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9957000017166138,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/backstepping","display_name":"Backstepping","score":0.9414609670639038},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7838577628135681},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6071130037307739},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5616311430931091},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5594557523727417},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5350868105888367},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5146909356117249},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.48728764057159424},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4421570599079132},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4372991919517517},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4324842095375061},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3468916714191437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30563804507255554},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.26239603757858276},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.15341001749038696},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.07676321268081665},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.05018487572669983}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.9414609670639038},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7838577628135681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6071130037307739},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5616311430931091},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5594557523727417},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5350868105888367},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5146909356117249},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.48728764057159424},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4421570599079132},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4372991919517517},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4324842095375061},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3468916714191437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30563804507255554},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.26239603757858276},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.15341001749038696},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.07676321268081665},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.05018487572669983},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561367","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:macsphere.mcmaster.ca:11375/31288","is_oa":false,"landing_page_url":"http://hdl.handle.net/11375/31288","pdf_url":null,"source":{"id":"https://openalex.org/S4306402139","display_name":"MacSphere (McMaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98251732","host_organization_name":"McMaster University","host_organization_lineage":["https://openalex.org/I98251732"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1985940938","https://openalex.org/W1994997981","https://openalex.org/W1999483147","https://openalex.org/W2001471851","https://openalex.org/W2026347740","https://openalex.org/W2044341605","https://openalex.org/W2050679095","https://openalex.org/W2060827639","https://openalex.org/W2062277490","https://openalex.org/W2101343911","https://openalex.org/W2107956696","https://openalex.org/W2130535256","https://openalex.org/W2145014642","https://openalex.org/W2155273341","https://openalex.org/W2327619990","https://openalex.org/W2568019971","https://openalex.org/W2577847632","https://openalex.org/W2769959917","https://openalex.org/W2797209550","https://openalex.org/W2970454782","https://openalex.org/W2980621770","https://openalex.org/W2981718602","https://openalex.org/W2995010020","https://openalex.org/W2996276911","https://openalex.org/W2999650844","https://openalex.org/W3039738702","https://openalex.org/W3040823376"],"related_works":["https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W2534185822","https://openalex.org/W2771027241","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W2036311230"],"abstract_inverted_index":{"Research":[0],"on":[1,64],"tracking":[2,17,118],"control":[3,18,32,57,101],"has":[4,20,120],"been":[5,22],"on-going":[6],"for":[7,59,108,125],"many":[8],"years.":[9],"The":[10,68,116],"accuracy":[11],"and":[12,47,76,85,132],"the":[13,16,25,31,42,73,90,93,99,105,109,114],"practicality":[14],"of":[15,24,44,92],"method":[19,58,70,102,119],"always":[21],"one":[23],"most":[26],"important":[27,40],"aspects":[28],"when":[29],"designing":[30],"strategy.":[33],"Autonomous":[34],"Underwater":[35],"Vehicles":[36],"are":[37,80],"becoming":[38],"increasingly":[39],"in":[41,82],"applications":[43],"ocean":[45],"surveillance":[46],"military,":[48],"etc.":[49],"Therefore,":[50],"this":[51],"paper":[52],"aims":[53],"to":[54],"develop":[55],"a":[56],"autonomous":[60,110,126],"underwater":[61,111,127],"vehicles":[62],"based":[63],"bioinspired":[65,94],"neural":[66,95],"dynamics.":[67,96],"proposed":[69,100],"practically":[71],"solves":[72],"speed":[74],"jump":[75],"chattering":[77],"issues":[78],"that":[79],"respectively":[81],"conventional":[83],"backstepping":[84],"sliding":[86],"mode":[87],"controls":[88],"with":[89],"aid":[91],"In":[97],"addition,":[98],"also":[103],"takes":[104],"dynamic":[106],"uncertainties":[107,131],"vehicle":[112,128],"into":[113],"consideration.":[115],"combined":[117],"relatively":[121],"good":[122],"overall":[123],"performance":[124],"against":[129],"model":[130],"disturbances.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}