{"id":"https://openalex.org/W7148740582","doi":"https://doi.org/10.1134/s0005117925600843","title":"Robust Control of Underactuated Underwater Vehicle","display_name":"Robust Control of Underactuated Underwater Vehicle","publication_year":2025,"publication_date":"2025-04-01","ids":{"openalex":"https://openalex.org/W7148740582","doi":"https://doi.org/10.1134/s0005117925600843"},"language":"en","primary_location":{"id":"doi:10.1134/s0005117925600843","is_oa":false,"landing_page_url":"https://doi.org/10.1134/s0005117925600843","pdf_url":null,"source":{"id":"https://openalex.org/S134188425","display_name":"Automation and Remote Control","issn_l":"0005-1179","issn":["0005-1179","1608-3032"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automation and Remote Control","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/A5132857622","display_name":"Alper Bayrak","orcid":null},"institutions":[{"id":"https://openalex.org/I76973811","display_name":"Bolu Abant \u0130zzet Baysal University","ror":"https://ror.org/01x1kqx83","country_code":"TR","type":"education","lineage":["https://openalex.org/I76973811"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Alper Bayrak","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Bolu Abant Izzet Baysal University, 14030, Bolu, T\u00fcrkiye"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Bolu Abant Izzet Baysal University, 14030, Bolu, T\u00fcrkiye","institution_ids":["https://openalex.org/I76973811"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5132857622"],"corresponding_institution_ids":["https://openalex.org/I76973811"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.73629008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"86","issue":"1-4","first_page":"18","last_page":"29"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.7319999933242798,"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":0.7319999933242798,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.16500000655651093,"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":0.026599999517202377,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.866100013256073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8447999954223633},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8306999802589417},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6819999814033508},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5562999844551086},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4837999939918518},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.46959999203681946}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.866100013256073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8447999954223633},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8306999802589417},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6819999814033508},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5562999844551086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5338000059127808},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4837999939918518},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.46959999203681946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4496000111103058},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.43709999322891235},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4235999882221222},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4104999899864197},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41029998660087585},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32359999418258667},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.32100000977516174},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.30320000648498535},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2770000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1134/s0005117925600843","is_oa":false,"landing_page_url":"https://doi.org/10.1134/s0005117925600843","pdf_url":null,"source":{"id":"https://openalex.org/S134188425","display_name":"Automation and Remote Control","issn_l":"0005-1179","issn":["0005-1179","1608-3032"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automation and Remote Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.5267595052719116,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W796978335","https://openalex.org/W2002870652","https://openalex.org/W2403551983","https://openalex.org/W2965704098","https://openalex.org/W2977332328","https://openalex.org/W4321062786","https://openalex.org/W4386072037","https://openalex.org/W4404741314"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"a":[3],"robust":[4],"control":[5,49,67],"scheme":[6],"based":[7],"on":[8],"the":[9,47,51,58,62],"backstepping":[10],"strategy":[11],"is":[12],"developed":[13],"for":[14],"underactuated":[15],"UUVs.":[16],"The":[17,66],"proposed":[18,48],"method":[19,68],"does":[20],"not":[21],"require":[22],"system":[23,55],"model":[24],"or":[25],"parameter":[26],"knowledge":[27],"and,":[28],"owing":[29],"to":[30],"its":[31,77],"simple":[32],"structure,":[33],"offers":[34],"ease":[35],"of":[36,53,61],"implementation.":[37],"Through":[38],"Lyapunov":[39],"stability":[40,60],"analysis,":[41],"it":[42],"has":[43,69],"been":[44,70],"demonstrated":[45],"that":[46],"guarantees":[50],"boundedness":[52],"all":[54],"states":[56],"and":[57],"ultimate":[59],"output":[63],"error":[64],"vector.":[65],"validated":[71],"through":[72],"simulation":[73],"studies,":[74],"which":[75],"confirm":[76],"successful":[78],"performance.":[79]},"counts_by_year":[],"updated_date":"2026-04-04T06:15:33.020886","created_date":"2026-04-04T00:00:00"}
