{"id":"https://openalex.org/W4408074131","doi":"https://doi.org/10.1142/s2301385025420063","title":"Modeling and Output Feedback Tracking Control of Self-Developed Autonomous Underwater Vehicle","display_name":"Modeling and Output Feedback Tracking Control of Self-Developed Autonomous Underwater Vehicle","publication_year":2025,"publication_date":"2025-03-01","ids":{"openalex":"https://openalex.org/W4408074131","doi":"https://doi.org/10.1142/s2301385025420063"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385025420063","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025420063","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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":null,"display_name":"Ming Lu","orcid":"https://orcid.org/0009-0005-9521-2202"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Lu","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China"],"raw_orcid":"https://orcid.org/0009-0005-9521-2202","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China","institution_ids":["https://openalex.org/I4210161003"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shuai Liu","orcid":"https://orcid.org/0009-0007-8804-2166"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Liu","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China"],"raw_orcid":"https://orcid.org/0009-0007-8804-2166","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China","institution_ids":["https://openalex.org/I4210161003"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yiting Luo","orcid":"https://orcid.org/0009-0006-2033-2530"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiting Luo","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China"],"raw_orcid":"https://orcid.org/0009-0006-2033-2530","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China","institution_ids":["https://openalex.org/I4210161003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056392493","display_name":"Qingyuan Qi","orcid":"https://orcid.org/0000-0002-8741-6273"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyuan Qi","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-8741-6273","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China","institution_ids":["https://openalex.org/I4210161003"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yue Sun","orcid":"https://orcid.org/0000-0003-4300-2316"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Sun","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China"],"raw_orcid":"https://orcid.org/0000-0003-4300-2316","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, P. R. China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, P. R. China","institution_ids":["https://openalex.org/I4210161003"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jitao Li","orcid":"https://orcid.org/0000-0002-2941-7534"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jitao Li","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-2941-7534","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, P. R. China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1115,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.90577251,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"13","issue":"06","first_page":"1639","last_page":"1660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.993399977684021,"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":0.993399977684021,"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":0.9873999953269958,"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/tracking","display_name":"Tracking (education)","score":0.6547293663024902},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.617575466632843},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.57792067527771},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49401408433914185},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4605511724948883},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4570060968399048},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43999314308166504},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.4148838222026825},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3824637234210968},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.293454110622406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17922091484069824},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.16385528445243835},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1278713047504425},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.07130545377731323}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6547293663024902},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.617575466632843},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.57792067527771},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49401408433914185},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4605511724948883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4570060968399048},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43999314308166504},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.4148838222026825},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3824637234210968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.293454110622406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17922091484069824},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.16385528445243835},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1278713047504425},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.07130545377731323},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385025420063","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385025420063","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G1982849159","display_name":null,"funder_award_id":"LH2023F021","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"},{"id":"https://openalex.org/G2283562171","display_name":null,"funder_award_id":"61903210","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3783553680","display_name":null,"funder_award_id":"U24A20281","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4601501698","display_name":null,"funder_award_id":"62203300","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"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W111418999","https://openalex.org/W1969142081","https://openalex.org/W2084113595","https://openalex.org/W2084335370","https://openalex.org/W2406140352","https://openalex.org/W2492811885","https://openalex.org/W2502674625","https://openalex.org/W2525627968","https://openalex.org/W2564879041","https://openalex.org/W2566104975","https://openalex.org/W2766842087","https://openalex.org/W2897830955","https://openalex.org/W2904221661","https://openalex.org/W3184311107","https://openalex.org/W3195195561","https://openalex.org/W3200454905","https://openalex.org/W4221111289","https://openalex.org/W4237300936","https://openalex.org/W4311270805","https://openalex.org/W4387010630","https://openalex.org/W4387987078","https://openalex.org/W4390242578","https://openalex.org/W4391798215","https://openalex.org/W4392162672","https://openalex.org/W4393111720","https://openalex.org/W4394776334"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2515556373","https://openalex.org/W2349855979","https://openalex.org/W2254436626","https://openalex.org/W2291813429","https://openalex.org/W4389552621","https://openalex.org/W4388085472"],"abstract_inverted_index":{"Due":[0],"to":[1],"the":[2,6,129,132,141,149,163,171,181,184,190],"crucial":[3],"role":[4],"in":[5,28],"development":[7,45],"and":[8,26,36,46,54,83,119,125,170,173],"utilization":[9],"of":[10,95,131,143,155,183],"ocean":[11],"resources,":[12],"research":[13,71],"on":[14],"autonomous":[15],"underwater":[16],"vehicles":[17],"(AUVs)":[18],"has":[19],"received":[20],"widespread":[21],"attention":[22],"from":[23,140],"both":[24],"academia":[25],"industry":[27],"recent":[29],"years.":[30],"Existing":[31],"AUVs":[32],"are":[33,98,108,177],"typically":[34],"expensive":[35],"have":[37],"poor":[38],"control":[39,90,153,166],"accuracy,":[40],"which":[41],"significantly":[42],"limits":[43],"their":[44],"use.":[47],"Motivated":[48],"by":[49,63,189],"this,":[50],"a":[51,69],"low-cost,":[52],"long-endurance,":[53],"high-precision":[55,104],"AUV":[56,157],"prototype":[57],"\u201cSea":[58],"Explorer-I\u201d":[59],"is":[60,72,168,187],"independently":[61],"developed":[62],"our":[64],"laboratory.":[65],"In":[66],"this":[67,96,146],"paper,":[68],"thorough":[70],"conducted":[73,109],"for":[74,136],"\u201cSea-Explorer":[75,102],"I\u201d,":[76,103],"including":[77],"its":[78],"structural":[79],"design,":[80],"mathematical":[81,137],"modeling,":[82],"output":[84],"feedback":[85],"linear":[86],"quadratic":[87],"tracking":[88,152],"(LQT)":[89],"problems.":[91],"The":[92],"principal":[93],"contributions":[94],"paper":[97,147],"as":[99,158],"follows:":[100],"For":[101],"flow":[105],"field":[106],"simulations":[107],"using":[110],"computational":[111],"fluid":[112],"dynamics":[113],"(CFD).":[114],"This":[115],"approach":[116],"integrates":[117],"dynamic":[118],"static":[120],"grids":[121],"with":[122],"superimposed":[123],"translational":[124],"rotational":[126],"motions,":[127],"enabling":[128],"calculation":[130],"hydrodynamic":[133],"coefficients":[134],"required":[135],"modeling.":[138],"Moreover,":[139],"perspective":[142],"stochastic":[144],"control,":[145],"describes":[148],"optimal":[150,164],"trajectory":[151],"problem":[154],"an":[156,159],"LQT":[160,165],"problem,":[161],"then":[162],"strategy":[167],"derived,":[169],"necessary":[172],"sufficient":[174],"stabilization":[175],"conditions":[176],"also":[178],"presented.":[179],"Finally,":[180],"effectiveness":[182],"obtained":[185],"results":[186],"validated":[188],"simulation":[191],"results.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
