{"id":"https://openalex.org/W1574947509","doi":"https://doi.org/10.1109/iros.2003.1250692","title":"A nonlinear h-/sub \u221e/ controller for autonomous underwater vehicles","display_name":"A nonlinear h-/sub \u221e/ controller for autonomous underwater vehicles","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W1574947509","doi":"https://doi.org/10.1109/iros.2003.1250692","mag":"1574947509"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250692","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/A5085237498","display_name":"M. E. West","orcid":"https://orcid.org/0000-0003-4855-9295"},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M.E. West","raw_affiliation_strings":["Autonomous Systems Laboratory Mechanical Engineering Department, University of Hawaii, Manoa, Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory Mechanical Engineering Department, University of Hawaii, Manoa, Honolulu, HI, USA","institution_ids":["https://openalex.org/I117965899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111590230","display_name":"Junku Yuh","orcid":null},"institutions":[{"id":"https://openalex.org/I117965899","display_name":"University of Hawai\u02bbi at M\u0101noa","ror":"https://ror.org/01wspgy28","country_code":"US","type":"education","lineage":["https://openalex.org/I117965899"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junku Yuh","raw_affiliation_strings":["Autonomous Systems Laboratory Mechanical Engineering Department, University of Hawaii, Manoa, Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory Mechanical Engineering Department, University of Hawaii, Manoa, Honolulu, HI, USA","institution_ids":["https://openalex.org/I117965899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089771083","display_name":"Vassilis L. Syrmos","orcid":null},"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":"V.L. Syrmos","raw_affiliation_strings":["Department of Electrical Engineering, University of Hawai, Honolulu, HI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Hawai, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085237498"],"corresponding_institution_ids":["https://openalex.org/I117965899"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05109092,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"583","last_page":"588"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9980999827384949,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9979000091552734,"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/control-theory","display_name":"Control theory (sociology)","score":0.837857723236084},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7250385284423828},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.6893140077590942},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6565266847610474},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6255109310150146},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.5823388695716858},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5390026569366455},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.4731529653072357},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.43722760677337646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40946707129478455},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3805273771286011},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35257309675216675},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3511391878128052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21910765767097473},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21092528104782104},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16021007299423218},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14839023351669312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1304692029953003},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08509308099746704}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.837857723236084},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7250385284423828},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.6893140077590942},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6565266847610474},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6255109310150146},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.5823388695716858},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5390026569366455},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.4731529653072357},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.43722760677337646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40946707129478455},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3805273771286011},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35257309675216675},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3511391878128052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21910765767097473},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21092528104782104},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16021007299423218},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14839023351669312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1304692029953003},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08509308099746704},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"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/iros.2003.1250692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250692","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":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"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":12,"referenced_works":["https://openalex.org/W1517027110","https://openalex.org/W1590684588","https://openalex.org/W1595745785","https://openalex.org/W1951901655","https://openalex.org/W2034427367","https://openalex.org/W2069970247","https://openalex.org/W2107487294","https://openalex.org/W2122075174","https://openalex.org/W2147081347","https://openalex.org/W2167932800","https://openalex.org/W6635423901","https://openalex.org/W6668260032"],"related_works":["https://openalex.org/W2567375923","https://openalex.org/W2330784347","https://openalex.org/W2965979218","https://openalex.org/W1976285134","https://openalex.org/W2076146791","https://openalex.org/W1575685434","https://openalex.org/W1957657662","https://openalex.org/W3032370360","https://openalex.org/W2388046485","https://openalex.org/W2371108875"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,101,105],"six":[4],"degree-of-freedom":[5],"nonlinear":[6,72],"H-/sub":[7,73],"/spl":[8,74,93,95,109],"infin//":[9,75],"controller":[10,16,76],"for":[11,104],"autonomous":[12],"underwater":[13,63],"vehicles.":[14],"The":[15,71],"makes":[17],"use":[18],"of":[19,55,68],"Euler":[20,40,43],"parameters,":[21],"or":[22],"unit":[23],"quaternion,":[24],"which":[25],"have":[26],"been":[27],"used":[28],"extensively":[29],"with":[30,47,60],"spacecraft":[31],"and":[32],"aircraft":[33],"as":[34,46],"opposed":[35],"to":[36,78,100],"the":[37,56,66,69,84],"more":[38],"popular":[39],"angle":[41],"representation.":[42],"angles":[44],"suffer":[45],"other":[48],"3-parameter":[49],"representations":[50],"from":[51,97],"singular":[52],"points.":[53],"One":[54],"main":[57],"challenges":[58],"associated":[59],"designing":[61],"an":[62],"control":[64],"is":[65],"unknowns":[67],"model.":[70],"attempts":[77],"address":[79],"this":[80],"problem":[81],"such":[82],"that":[83],"closed":[85],"loop":[86],"system":[87],"has":[88],"L/sub":[89],"2/":[90],"-":[91],"gain":[92],"les/":[94],"gamma/":[96],"torque":[98],"disturbances":[99],"penalty":[102],"variable":[103],"fixed":[106],"positive":[107],"constant":[108],"gamma/.":[110]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}