{"id":"https://openalex.org/W2157335001","doi":"https://doi.org/10.1109/iros.2007.4399442","title":"Observer design for Euler Lagrange systems: application to path following control of an underactuated surface vessel","display_name":"Observer design for Euler Lagrange systems: application to path following control of an underactuated surface vessel","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2157335001","doi":"https://doi.org/10.1109/iros.2007.4399442","mag":"2157335001"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5082996333","display_name":"Jawhar Ghommam","orcid":"https://orcid.org/0000-0002-8289-6124"},"institutions":[{"id":"https://openalex.org/I142899784","display_name":"University of Sfax","ror":"https://ror.org/04d4sd432","country_code":"TN","type":"education","lineage":["https://openalex.org/I142899784"]},{"id":"https://openalex.org/I42731748","display_name":"National Institute of Applied Science and Technology","ror":"https://ror.org/00qn2rd91","country_code":"TN","type":"facility","lineage":["https://openalex.org/I42731748"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Jawhar Ghommam","raw_affiliation_strings":["Intelligent Control and Optimization of Complex System, Ecole Nationale dIng\u00e9nieurs de Sfax, Sfax, Tunisia","Institut National des Sciences Appliqu\u00e9es et de Technologie [Tunis]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control and Optimization of Complex System, Ecole Nationale dIng\u00e9nieurs de Sfax, Sfax, Tunisia","institution_ids":["https://openalex.org/I142899784"]},{"raw_affiliation_string":"Institut National des Sciences Appliqu\u00e9es et de Technologie [Tunis]","institution_ids":["https://openalex.org/I42731748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089765412","display_name":"F. Mnif","orcid":"https://orcid.org/0000-0002-1631-8465"},"institutions":[{"id":"https://openalex.org/I142899784","display_name":"University of Sfax","ror":"https://ror.org/04d4sd432","country_code":"TN","type":"education","lineage":["https://openalex.org/I142899784"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Faical Mnif","raw_affiliation_strings":["Intelligent Control and Optimization of Complex System, Ecole Nationale dIng\u00e9nieurs de Sfax, Sfax, Tunisia","Intelligent Control, design & Optimization of complex Systems"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control and Optimization of Complex System, Ecole Nationale dIng\u00e9nieurs de Sfax, Sfax, Tunisia","institution_ids":["https://openalex.org/I142899784"]},{"raw_affiliation_string":"Intelligent Control, design & Optimization of complex Systems","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111684054","display_name":"Abderraouf Benali","orcid":"https://orcid.org/0000-0003-0659-6469"},"institutions":[{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abderraouf Benali","raw_affiliation_strings":["Laboratoire de Vision et Robotique, Universit\u00e9 d''Orl\u00e9nas, Bourges, France","Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de Vision et Robotique, Universit\u00e9 d''Orl\u00e9nas, Bourges, France","institution_ids":[]},{"raw_affiliation_string":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","institution_ids":["https://openalex.org/I4210096782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028428443","display_name":"G\u00e9rard Poisson","orcid":"https://orcid.org/0000-0002-6730-9411"},"institutions":[{"id":"https://openalex.org/I4210096782","display_name":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","ror":"https://ror.org/00sbth994","country_code":"FR","type":"facility","lineage":["https://openalex.org/I12449238","https://openalex.org/I4210096782","https://openalex.org/I4210143826"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gerard Poisson","raw_affiliation_strings":["Laboratoire de Vision et Robotique, Universit\u00e9 d''Orl\u00e9nas, Bourges, France","Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de Vision et Robotique, Universit\u00e9 d''Orl\u00e9nas, Bourges, France","institution_ids":[]},{"raw_affiliation_string":"Laboratoire Pluridisciplinaire de Recherche en Ing\u00e9nierie des Syst\u00e8mes, M\u00e9canique et Energ\u00e9tique","institution_ids":["https://openalex.org/I4210096782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5721,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.65452418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2883","last_page":"2888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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":0.9991999864578247,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9925000071525574,"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/backstepping","display_name":"Backstepping","score":0.8793913722038269},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8233882188796997},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.81126868724823},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7374555468559265},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5965802669525146},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5058081150054932},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.49831724166870117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43149295449256897},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.414204478263855},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4105781018733978},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3819068670272827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3382692337036133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30920174717903137},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25300735235214233},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09445539116859436},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.08881688117980957},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08034539222717285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06236046552658081}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8793913722038269},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8233882188796997},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.81126868724823},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7374555468559265},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5965802669525146},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5058081150054932},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.49831724166870117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43149295449256897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.414204478263855},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4105781018733978},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3819068670272827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3382692337036133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30920174717903137},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25300735235214233},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09445539116859436},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.08881688117980957},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08034539222717285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06236046552658081},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W111897093","https://openalex.org/W1496777766","https://openalex.org/W1524609463","https://openalex.org/W2045507815","https://openalex.org/W2083483041","https://openalex.org/W2090167557","https://openalex.org/W2127988032","https://openalex.org/W2162072750","https://openalex.org/W6604558003"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W2790201508","https://openalex.org/W1562352894","https://openalex.org/W1980281239"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,13,41],"practical":[4],"method":[5,69],"to":[6,30],"design":[7],"an":[8,26,35],"output":[9],"feedback":[10],"controller":[11,33],"for":[12,34],"general":[14],"mechanical":[15],"system":[16],"described":[17],"by":[18],"Euler":[19],"Lagrange":[20],"equations.":[21],"An":[22],"application":[23],"of":[24],"such":[25],"observer":[27],"is":[28,47,64],"formulated":[29],"path":[31],"following":[32],"underactuated":[36,48],"surface":[37,45],"vessel":[38,46],"moving":[39],"in":[40,49],"horizontal":[42],"plan.":[43],"The":[44,61],"the":[50],"sway":[51],"direction":[52],"and":[53,57,70],"has":[54],"only":[55],"position":[56],"orientation":[58],"measurement":[59],"available.":[60],"control":[62],"development":[63],"based":[65],"on":[66],"Lyapunov":[67],"direct":[68],"backstepping":[71],"technique.":[72]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}