{"id":"https://openalex.org/W2744608457","doi":"https://doi.org/10.1109/urai.2017.7992812","title":"Research on hydrodynamics analysis and double loop integral sliding mode control of 4-joint underwater manipulator","display_name":"Research on hydrodynamics analysis and double loop integral sliding mode control of 4-joint underwater manipulator","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2744608457","doi":"https://doi.org/10.1109/urai.2017.7992812","mag":"2744608457"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2017.7992812","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992812","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5100422334","display_name":"Zhen Wang","orcid":"https://orcid.org/0000-0002-4553-4976"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078095237","display_name":"Mingxing Lin","orcid":"https://orcid.org/0000-0003-0291-0158"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingxing Lin","raw_affiliation_strings":["Key Laboratory of High-efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of High-efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082239575","display_name":"Chuanqi Ban","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanqi Ban","raw_affiliation_strings":["Key Laboratory of High-efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of High-efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8725,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75552166,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"18","issue":null,"first_page":"728","last_page":"733"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9950000047683716,"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/T13715","display_name":"Power Line Inspection Robots","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7813346982002258},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7275539040565491},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5606226921081543},{"id":"https://openalex.org/keywords/buoyancy","display_name":"Buoyancy","score":0.513787567615509},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5019984245300293},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4880872964859009},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4703645408153534},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.44582194089889526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4434587359428406},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4160207509994507},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35936152935028076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17420944571495056},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14744555950164795},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1385411024093628},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.11053299903869629},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08249849081039429},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07522016763687134},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07453975081443787}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7813346982002258},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7275539040565491},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5606226921081543},{"id":"https://openalex.org/C538625479","wikidata":"https://www.wikidata.org/wiki/Q6497624","display_name":"Buoyancy","level":2,"score":0.513787567615509},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5019984245300293},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4880872964859009},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4703645408153534},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.44582194089889526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4434587359428406},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4160207509994507},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35936152935028076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17420944571495056},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14744555950164795},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1385411024093628},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.11053299903869629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08249849081039429},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07522016763687134},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07453975081443787},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2017.7992812","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992812","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8199999928474426,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W298021188","https://openalex.org/W1985245369","https://openalex.org/W2037411017","https://openalex.org/W2072982598","https://openalex.org/W2114553250","https://openalex.org/W2341169549","https://openalex.org/W2381943072","https://openalex.org/W2393707065","https://openalex.org/W2566700553","https://openalex.org/W2727882269","https://openalex.org/W2964047035","https://openalex.org/W6659914204","https://openalex.org/W6766128666","https://openalex.org/W7054714762"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W4292702743","https://openalex.org/W2726654316","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":{"Given":[0],"the":[1,7,13,15,23,28,35,39,43,46,55,58,66,69,75,92,121],"importance":[2],"of":[3,9,25,45,57,68,87,127],"underwater":[4,18,59,128],"manipulator":[5,19,60],"in":[6,102],"process":[8],"grasping":[10],"and":[11,50,74,106,124],"carrying":[12],"object,":[14],"simple":[16],"4-joint":[17],"is":[20,31],"designed.":[21],"Considering":[22],"factors":[24],"water":[26,48],"flow,":[27],"hydrodynamic":[29],"model":[30],"established":[32],"by":[33],"using":[34],"Morision":[36],"formula.":[37],"Through":[38],"numerical":[40],"calculation":[41],"method,":[42],"effects":[44],"buoyancy,":[47],"resistance":[49],"added":[51],"mass":[52],"force":[53],"on":[54],"dynamics":[56],"are":[61,82],"analyzed.":[62],"On":[63],"this":[64],"basis,":[65],"controllers":[67],"conventional":[70,110],"sliding":[71,79,96,111],"mode":[72,80,97,112],"algorithm":[73,81,98],"double":[76,93],"loop":[77,94],"integral":[78,95],"established.":[83],"The":[84],"simulation":[85],"results":[86],"trajectory":[88],"tracking":[89],"show":[90],"that:":[91],"has":[99],"better":[100],"performances":[101],"response":[103],"speed,":[104],"stability":[105],"adaptability":[107],"compared":[108],"with":[109],"control":[113,126],"algorithm.":[114],"This":[115],"paper":[116],"provides":[117],"valuable":[118],"references":[119],"for":[120],"dynamic":[122],"study":[123],"motion":[125],"manipulator.":[129]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}