{"id":"https://openalex.org/W2121610747","doi":"https://doi.org/10.1109/irds.2002.1044057","title":"A study of the control of an underactuated underwater robotic vehicle","display_name":"A study of the control of an underactuated underwater robotic vehicle","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2121610747","doi":"https://doi.org/10.1109/irds.2002.1044057","mag":"2121610747"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1044057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1044057","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5113489038","display_name":"T. H. Koh","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"T.H. Koh","raw_affiliation_strings":["Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008694652","display_name":"M.W.S. Lau","orcid":"https://orcid.org/0000-0003-2786-6261"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"M.W.S. Lau","raw_affiliation_strings":["Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076044364","display_name":"Eicher Low","orcid":"https://orcid.org/0000-0003-1107-1122"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"E. Low","raw_affiliation_strings":["Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013176711","display_name":"Gerald Seet","orcid":"https://orcid.org/0000-0002-1505-2167"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"G. Seet","raw_affiliation_strings":["Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113502237","display_name":"Shan-Min Swei","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"S. Swei","raw_affiliation_strings":["Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064335113","display_name":"P.L. Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"P.L. Cheng","raw_affiliation_strings":["Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Centre (RRC), School of Mechanical 6Y Production Engineering (MPE), Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Sch. of Mech. & Production Eng., Nanyang Technol. Univ., , Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.8563,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.89419252,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"2049","last_page":"2054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9977999925613403,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9968000054359436,"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/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.8720213174819946},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.783899188041687},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7385947108268738},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6866370439529419},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6626464128494263},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5717586278915405},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5426417589187622},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.5221222639083862},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5018620491027832},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.467856228351593},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4503067433834076},{"id":"https://openalex.org/keywords/remotely-operated-vehicle","display_name":"Remotely operated vehicle","score":0.43824300169944763},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4376833736896515},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4313984513282776},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4171432554721832},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39041364192962646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3043176531791687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2535461187362671},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21569114923477173},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16969457268714905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10672417283058167},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0869210958480835},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07724228501319885}],"concepts":[{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.8720213174819946},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.783899188041687},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7385947108268738},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6866370439529419},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6626464128494263},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5717586278915405},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5426417589187622},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.5221222639083862},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5018620491027832},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.467856228351593},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4503067433834076},{"id":"https://openalex.org/C64228939","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated vehicle","level":2,"score":0.43824300169944763},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4376833736896515},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4313984513282776},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4171432554721832},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39041364192962646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3043176531791687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2535461187362671},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21569114923477173},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16969457268714905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10672417283058167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0869210958480835},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07724228501319885},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/irds.2002.1044057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1044057","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W151962725","https://openalex.org/W1487127700","https://openalex.org/W1554972119","https://openalex.org/W1614071959","https://openalex.org/W1984010993","https://openalex.org/W1988166371","https://openalex.org/W2056069998","https://openalex.org/W2100436923","https://openalex.org/W2128592712","https://openalex.org/W2136753148","https://openalex.org/W2145287296","https://openalex.org/W2165301491","https://openalex.org/W2165991001","https://openalex.org/W2584648668","https://openalex.org/W3128946687","https://openalex.org/W6647252713"],"related_works":["https://openalex.org/W2571549313","https://openalex.org/W2254436626","https://openalex.org/W1763276989","https://openalex.org/W2981706417","https://openalex.org/W2604586813","https://openalex.org/W811900207","https://openalex.org/W4235285863","https://openalex.org/W1993142044","https://openalex.org/W1577440474","https://openalex.org/W2784470129"],"abstract_inverted_index":{"Underwater":[0],"robotic":[1],"vehicles":[2,14,20],"(URVs),":[3],"generally,":[4],"consist":[5],"of":[6,28,35,68,88,94,98,106],"two":[7],"main":[8],"classes,":[9],"namely":[10],"the":[11,17,46,52,64,69,86,89,92,95],"remotely":[12],"operated":[13],"(ROVs)":[15],"and":[16,31,48,57,61,76],"autonomous":[18],"underwater":[19],"(AUVs).":[21],"In":[22],"this":[23],"paper,":[24],"a":[25,29,32,78,102],"simplified":[26],"model":[27],"thruster":[30],"general":[33],"equation":[34],"rigid":[36],"body":[37],"motion":[38],"for":[39],"an":[40],"underactuated":[41],"ROV":[42],"are":[43,59,72],"presented.":[44,62],"Then":[45],"nonlinear":[47,66],"coupling":[49],"effects":[50],"on":[51],"ROV,":[53],"from":[54],"its":[55],"shape":[56],"design,":[58],"derived":[60],"Lastly,":[63],"steady-state":[65,107],"behaviour":[67],"thrusters":[70],"observed":[71],"used":[73],"to":[74],"design":[75],"develop":[77],"simple":[79],"PID":[80],"controller.":[81],"Simulation":[82],"results":[83],"obtained":[84],"demonstrated":[85],"capability":[87],"controller":[90],"in":[91],"regulating":[93],"desired":[96],"amount":[97],"thrust":[99],"while":[100],"maintaining":[101],"relatively":[103],"small":[104],"degree":[105],"error.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}