{"id":"https://openalex.org/W4405232438","doi":"https://doi.org/10.1109/lra.2024.3515733","title":"Adaptive Integral Sliding Mode Control for Attitude Tracking of Underwater Robots With Large Range Pitch Variations in Confined Spaces","display_name":"Adaptive Integral Sliding Mode Control for Attitude Tracking of Underwater Robots With Large Range Pitch Variations in Confined Spaces","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4405232438","doi":"https://doi.org/10.1109/lra.2024.3515733"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3515733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3515733","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5032499965","display_name":"Xiaorui Wang","orcid":"https://orcid.org/0009-0007-5879-5044"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaorui Wang","raw_affiliation_strings":["Department of Advanced Manufacturing and Robotics, College of Engineering, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-5879-5044","affiliations":[{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, College of Engineering, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104171924","display_name":"Zeyu Sha","orcid":"https://orcid.org/0009-0009-6738-2131"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Sha","raw_affiliation_strings":["Department of Advanced Manufacturing and Robotics, College of Engineering, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-6738-2131","affiliations":[{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, College of Engineering, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059772938","display_name":"Feitian Zhang","orcid":"https://orcid.org/0000-0003-0992-5256"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feitian Zhang","raw_affiliation_strings":["Department of Advanced Manufacturing and Robotics, College of Engineering, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0992-5256","affiliations":[{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, College of Engineering, and the State Key Laboratory of Turbulence and Complex Systems, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0186,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.92346062,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"2","first_page":"979","last_page":"986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9941999912261963,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9380000233650208,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/tracking","display_name":"Tracking (education)","score":0.6929949522018433},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6782664060592651},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6176159977912903},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.6152287125587463},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.560337245464325},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5375219583511353},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4581645131111145},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4489525854587555},{"id":"https://openalex.org/keywords/pitch-angle","display_name":"Pitch angle","score":0.4352806806564331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41667866706848145},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.32191139459609985},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25212302803993225},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24572256207466125},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1955927312374115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19257313013076782},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.18010610342025757},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.16105511784553528},{"id":"https://openalex.org/keywords/geophysics","display_name":"Geophysics","score":0.06096896529197693},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.05565500259399414},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.05327925086021423},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.047606050968170166}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6929949522018433},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6782664060592651},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6176159977912903},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.6152287125587463},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.560337245464325},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5375219583511353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4581645131111145},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4489525854587555},{"id":"https://openalex.org/C2777581452","wikidata":"https://www.wikidata.org/wiki/Q4363928","display_name":"Pitch angle","level":2,"score":0.4352806806564331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41667866706848145},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.32191139459609985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25212302803993225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24572256207466125},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1955927312374115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19257313013076782},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18010610342025757},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.16105511784553528},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.06096896529197693},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.05565500259399414},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.05327925086021423},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.047606050968170166},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3515733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3515733","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G336900545","display_name":null,"funder_award_id":"62473006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W796978335","https://openalex.org/W2000062325","https://openalex.org/W2005159304","https://openalex.org/W2021904062","https://openalex.org/W2061919847","https://openalex.org/W2320818927","https://openalex.org/W2765405438","https://openalex.org/W2910155234","https://openalex.org/W2914295133","https://openalex.org/W2946566599","https://openalex.org/W2953707403","https://openalex.org/W2965369772","https://openalex.org/W2985603803","https://openalex.org/W3006536688","https://openalex.org/W3159422460","https://openalex.org/W4206068387","https://openalex.org/W4283212685","https://openalex.org/W4285102430","https://openalex.org/W4285179961","https://openalex.org/W4300885720","https://openalex.org/W4311533482","https://openalex.org/W4322576931","https://openalex.org/W4388878547","https://openalex.org/W4389665441","https://openalex.org/W6606609245","https://openalex.org/W6766277703"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W2726654316","https://openalex.org/W4292702743","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W2021587409","https://openalex.org/W4384821980","https://openalex.org/W2165744821","https://openalex.org/W1496250982","https://openalex.org/W2392286806"],"abstract_inverted_index":{"Underwater":[0],"robots":[1,24],"play":[2],"a":[3,150],"crucial":[4],"role":[5],"in":[6,29,166,170],"exploring":[7],"aquatic":[8],"environments.":[9],"The":[10,130],"ability":[11],"to":[12,25,85],"flexibly":[13],"adjust":[14],"their":[15],"attitudes,":[16],"especially":[17],"the":[18,33,46,58,118,133,156],"pitch,":[19],"is":[20,137],"essential":[21],"for":[22,121],"underwater":[23,64],"effectively":[26],"accomplish":[27],"tasks":[28],"confined":[30,171],"spaces.":[31],"However,":[32],"highly":[34],"coupled":[35],"six":[36],"degrees":[37],"of":[38,60,63,132,158],"freedom":[39],"dynamics":[40],"resulting":[41],"from":[42],"attitude":[43,61,88,167],"changes":[44],"and":[45,81,115,127,144,180],"complex":[47],"turbulence":[48],"within":[49],"limited":[50],"spatial":[51],"areas":[52],"present":[53],"significant":[54],"challenges.":[55],"To":[56],"address":[57],"problem":[59],"control":[62,84,113,135,169],"robots,":[65],"this":[66,94],"letter":[67,95],"investigates":[68],"large-range":[69],"pitch":[70],"angle":[71,83],"tracking":[72,123,168],"during":[73],"station":[74],"holding":[75],"as":[76,78],"well":[77],"simultaneous":[79],"roll":[80],"yaw":[82],"enable":[86],"versatile":[87],"adjustments.":[89],"Based":[90],"on":[91],"dynamic":[92],"modeling,":[93],"proposes":[96],"an":[97,106],"adaptive":[98],"integral":[99,107],"sliding":[100,111],"mode":[101,112],"controller":[102],"(AISMC)":[103],"that":[104,161],"integrates":[105],"module":[108],"into":[109],"traditional":[110],"(SMC)":[114],"adaptively":[116],"adjusts":[117],"switching":[119],"gain":[120],"improved":[122],"accuracy,":[124],"reduced":[125],"chattering,":[126],"enhanced":[128],"robustness.":[129],"stability":[131],"closed-loop":[134],"system":[136],"established":[138],"through":[139],"Lyapunov":[140],"analysis.":[141],"Extensive":[142],"experiments":[143],"comparison":[145],"studies":[146],"are":[147],"conducted":[148],"using":[149],"commercial":[151],"remotely":[152],"operated":[153],"vehicle":[154],"(ROV),":[155],"results":[157],"which":[159],"demonstrate":[160],"AISMC":[162],"achieves":[163],"satisfactory":[164],"performance":[165],"spaces":[172],"with":[173],"unknown":[174],"disturbances,":[175],"significantly":[176],"outperforming":[177],"PID,":[178],"ASMC":[179],"ISMC.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":10}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2024-12-11T00:00:00"}