{"id":"https://openalex.org/W2114405669","doi":"https://doi.org/10.1109/iros.2003.1250690","title":"Adaptive dob control of underwater robots","display_name":"Adaptive dob control of underwater robots","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2114405669","doi":"https://doi.org/10.1109/iros.2003.1250690","mag":"2114405669"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5102940449","display_name":"Shencheng Zhao","orcid":"https://orcid.org/0009-0009-4281-8605"},"institutions":[{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. Zhao","raw_affiliation_strings":["Autonomous System Laboratory, Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","Dept. of Mechanical Eng., Hawaii Univ., Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous System Laboratory, Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]},{"raw_affiliation_string":"Dept. of Mechanical Eng., Hawaii Univ., Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058383191","display_name":"J. Yuh","orcid":"https://orcid.org/0000-0002-8223-9108"},"institutions":[{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Yuh","raw_affiliation_strings":["Autonomous System Laboratory, Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","Dept. of Mechanical Eng., Hawaii Univ., Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous System Laboratory, Department of Mechanical Engineering, University of Hawai, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]},{"raw_affiliation_string":"Dept. of Mechanical Eng., Hawaii Univ., Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102940449"],"corresponding_institution_ids":["https://openalex.org/I1331384533"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.19243074,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"571","last_page":"576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9984999895095825,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9510999917984009,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/pid-controller","display_name":"PID controller","score":0.7449197173118591},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7059400677680969},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6254414319992065},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6196126937866211},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5951108932495117},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5523581504821777},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5240110158920288},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.4977855682373047},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.48426884412765503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47146159410476685},{"id":"https://openalex.org/keywords/parametric-model","display_name":"Parametric model","score":0.45660239458084106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3785327076911926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22023287415504456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16532132029533386},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.1534375250339508},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.08997812867164612},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08061394095420837}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7449197173118591},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7059400677680969},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6254414319992065},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6196126937866211},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5951108932495117},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5523581504821777},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5240110158920288},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.4977855682373047},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.48426884412765503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47146159410476685},{"id":"https://openalex.org/C24574437","wikidata":"https://www.wikidata.org/wiki/Q7135228","display_name":"Parametric model","level":3,"score":0.45660239458084106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3785327076911926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22023287415504456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16532132029533386},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.1534375250339508},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.08997812867164612},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08061394095420837},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250690","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250690","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-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/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1533623025","https://openalex.org/W1549382240","https://openalex.org/W1949214303","https://openalex.org/W2060167388","https://openalex.org/W2085533641","https://openalex.org/W2103493472","https://openalex.org/W2121298990","https://openalex.org/W2136312241","https://openalex.org/W2156050546","https://openalex.org/W7027361831","https://openalex.org/W7030570461"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W204648549","https://openalex.org/W4244904831"],"abstract_inverted_index":{"This":[0,30],"paper":[1],"presents":[2],"an":[3,17,27,69],"adaptive":[4,24,78,87],"DOB":[5,15,79],"(disturbance":[6],"observer)":[7],"controller":[8,19,25,80,94],"for":[9],"underwater":[10,70],"robots,":[11],"which":[12],"consists":[13],"of":[14,52,61,68,76,91],"as":[16,26,47,49],"inner-loop":[18],"and":[20,39,86,100],"a":[21,65],"non-regressor":[22],"based":[23],"outer-loop":[28],"controller.":[29,88],"control":[31],"scheme":[32],"does":[33],"not":[34],"require":[35],"any":[36],"parametric":[37],"information,":[38],"is":[40,95],"robust":[41],"with":[42],"respect":[43],"to":[44,57,82],"external":[45],"disturbance":[46],"well":[48],"the":[50,53,74,77,92],"variation":[51],"nominal":[54],"model":[55,67],"used":[56],"construct":[58],"DOB.":[59],"Results":[60],"computer":[62],"simulation":[63],"using":[64],"hydrodynamic":[66],"robot,":[71],"ODIN,":[72],"show":[73],"effectiveness":[75],"compared":[81],"PID,":[83],"PID":[84],"DOB,":[85],"Experimental":[89],"investigation":[90],"presented":[93,104],"in":[96],"progress":[97],"on":[98],"ODIN":[99],"results":[101],"are":[102],"also":[103],"at":[105],"IROS":[106],"2003.":[107]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
