{"id":"https://openalex.org/W2116160103","doi":"https://doi.org/10.1109/robot.2002.1014686","title":"Neural net based nonlinear adaptive control for autonomous underwater vehicles","display_name":"Neural net based nonlinear adaptive control for autonomous underwater vehicles","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2116160103","doi":"https://doi.org/10.1109/robot.2002.1014686","mag":"2116160103"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014686","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5063383376","display_name":"Jihong Li","orcid":"https://orcid.org/0000-0002-5162-2737"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji-Hong Li","raw_affiliation_strings":["Department of Electronics Engineering, Chungnam National University, Yusong-gu, Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Chungnam National University, Yusong-gu, Daejeon, Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021881492","display_name":"Pan-Mook Lee","orcid":"https://orcid.org/0000-0002-0500-6167"},"institutions":[{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Pan-Mook Lee","raw_affiliation_strings":["KORDI, Korea Research Institute of Ships & Ocean Engineering, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KORDI, Korea Research Institute of Ships & Ocean Engineering, South Korea","institution_ids":["https://openalex.org/I4399657955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063283272","display_name":"Sang Jeong Lee","orcid":"https://orcid.org/0000-0002-9400-5157"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sang-Jeong-Lee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.6485,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.98149122,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"1075","last_page":"1080"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9979000091552734,"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":0.9954000115394592,"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/control-theory","display_name":"Control theory (sociology)","score":0.7880899906158447},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6508647799491882},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.6384406685829163},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6348738670349121},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.626024603843689},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5883773565292358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5750686526298523},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.573244035243988},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5560761094093323},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5025463104248047},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.49384433031082153},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4867837131023407},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4366626441478729},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4312071204185486},{"id":"https://openalex.org/keywords/uniform-boundedness","display_name":"Uniform boundedness","score":0.42643052339553833},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.41605710983276367},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41298484802246094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26351723074913025},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22330740094184875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21443602442741394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18813002109527588},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12896546721458435}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7880899906158447},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6508647799491882},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.6384406685829163},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6348738670349121},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.626024603843689},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5883773565292358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5750686526298523},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.573244035243988},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5560761094093323},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5025463104248047},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.49384433031082153},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4867837131023407},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4366626441478729},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4312071204185486},{"id":"https://openalex.org/C90377204","wikidata":"https://www.wikidata.org/wiki/Q1052594","display_name":"Uniform boundedness","level":3,"score":0.42643052339553833},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.41605710983276367},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41298484802246094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26351723074913025},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22330740094184875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21443602442741394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18813002109527588},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12896546721458435},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014686","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1572326640","https://openalex.org/W1590684588","https://openalex.org/W1971735090","https://openalex.org/W2007700211","https://openalex.org/W2018869705","https://openalex.org/W2051671655","https://openalex.org/W2103496339","https://openalex.org/W2105361895","https://openalex.org/W2110219751","https://openalex.org/W2122867508","https://openalex.org/W2136312241","https://openalex.org/W2137983211","https://openalex.org/W2146014298","https://openalex.org/W2150535417","https://openalex.org/W2164576815","https://openalex.org/W2174032608","https://openalex.org/W3146803896","https://openalex.org/W3158150808"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W154868527","https://openalex.org/W1494268238","https://openalex.org/W3006614820","https://openalex.org/W2134936299","https://openalex.org/W2059284961","https://openalex.org/W2744608379","https://openalex.org/W2366898957","https://openalex.org/W1524555125","https://openalex.org/W2008872792"],"abstract_inverted_index":{"Since":[0],"the":[1,32,39,42,57,60,64,69,75,86,98,103,110,126,129],"dynamics":[2,112],"of":[3,25,34,41,59,68,85,128],"autonomous":[4],"underwater":[5],"vehicles":[6],"(AUVs)":[7],"are":[8,113,122],"highly":[9],"nonlinear":[10],"and":[11,36,91,107],"their":[12],"hydrodynamic":[13],"coefficients":[14],"vary":[15],"with":[16],"different":[17],"operating":[18],"conditions,":[19],"a":[20,48],"high":[21],"performance":[22],"control":[23,131],"system":[24],"an":[26,116],"AUV":[27,43],"is":[28,53,71],"needed":[29],"to":[30,38,55,74,124],"have":[31],"capacities":[33],"learning":[35],"adaptation":[37],"variations":[40],"dynamics.":[44],"In":[45],"this":[46],"paper,":[47],"linearly":[49],"parameterized":[50],"neural":[51],"network":[52,70,92,104],"used":[54],"approximate":[56],"uncertainties":[58],"vehicle":[61,76,87,111],"dynamics,":[62],"where":[63,102],"basis":[65],"function":[66],"vector":[67],"constructed":[72],"according":[73],"physical":[77],"properties.":[78],"The":[79],"proposed":[80,130],"controller":[81],"guarantees":[82],"uniform":[83],"boundedness":[84],"trajectory":[88],"tracking":[89],"errors":[90,95,106],"weights":[93],"estimation":[94],"based":[96],"on":[97],"Lyapunov":[99],"stability":[100],"theory,":[101],"reconstruction":[105],"disturbances":[108],"in":[109],"bounded":[114],"by":[115],"unknown":[117],"constant.":[118],"Numerical":[119],"simulation":[120],"studies":[121],"performed":[123],"illustrate":[125],"effectiveness":[127],"scheme.":[132]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
