{"id":"https://openalex.org/W4402262975","doi":"https://doi.org/10.23919/acc60939.2024.10645038","title":"Tube MPC-Based Tracking Control of AUVs Using Contraction Metric","display_name":"Tube MPC-Based Tracking Control of AUVs Using Contraction Metric","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402262975","doi":"https://doi.org/10.23919/acc60939.2024.10645038"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10645038","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10645038","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","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/A5083229405","display_name":"Kunwu Zhang","orcid":"https://orcid.org/0000-0002-2734-5813"},"institutions":[{"id":"https://openalex.org/I212119943","display_name":"University of Victoria","ror":"https://ror.org/04s5mat29","country_code":"CA","type":"education","lineage":["https://openalex.org/I212119943"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kunwu Zhang","raw_affiliation_strings":["University of Victoria,Department of Mechanical Engineering,Victoria,BC,Canada,V8W 2Y2"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Victoria,Department of Mechanical Engineering,Victoria,BC,Canada,V8W 2Y2","institution_ids":["https://openalex.org/I212119943"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028730873","display_name":"Yang Shi","orcid":"https://orcid.org/0000-0003-1337-5322"},"institutions":[{"id":"https://openalex.org/I212119943","display_name":"University of Victoria","ror":"https://ror.org/04s5mat29","country_code":"CA","type":"education","lineage":["https://openalex.org/I212119943"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yang Shi","raw_affiliation_strings":["University of Victoria,Department of Mechanical Engineering,Victoria,BC,Canada,V8W 2Y2"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Victoria,Department of Mechanical Engineering,Victoria,BC,Canada,V8W 2Y2","institution_ids":["https://openalex.org/I212119943"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I212119943"],"apc_list":null,"apc_paid":null,"fwci":0.5682,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66983194,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"905","last_page":"910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/contraction","display_name":"Contraction (grammar)","score":0.6681077480316162},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6308905482292175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.518784761428833},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.48903974890708923},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.48603540658950806},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44691476225852966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28437256813049316},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21452021598815918},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20008257031440735},{"id":"https://openalex.org/keywords/operations-management","display_name":"Operations management","score":0.08673012256622314}],"concepts":[{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.6681077480316162},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6308905482292175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.518784761428833},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.48903974890708923},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.48603540658950806},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44691476225852966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28437256813049316},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21452021598815918},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20008257031440735},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.08673012256622314},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10645038","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10645038","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1974025086","https://openalex.org/W2038137192","https://openalex.org/W2521613767","https://openalex.org/W2537300304","https://openalex.org/W2560445289","https://openalex.org/W2581111877","https://openalex.org/W2737223130","https://openalex.org/W2774922731","https://openalex.org/W2901415045","https://openalex.org/W2944533946","https://openalex.org/W2964337106","https://openalex.org/W3006129553","https://openalex.org/W3039205832","https://openalex.org/W3122467655","https://openalex.org/W3163490536","https://openalex.org/W3197315420","https://openalex.org/W3212274512","https://openalex.org/W4206033904","https://openalex.org/W4211147054","https://openalex.org/W4312969010","https://openalex.org/W4320489133"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W81137451","https://openalex.org/W2094121346"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"trajectory":[3],"tracking":[4,31,137],"of":[5,40,78,104,113,127,134,145],"autonomous":[6],"underwater":[7],"vehicles":[8],"(AUV)":[9],"subject":[10],"to":[11,26,52,85],"thruster":[12],"saturation":[13],"and":[14,64,90,132],"environmental":[15],"disturbances.":[16],"We":[17],"propose":[18],"a":[19,46,54],"tube":[20,88,98],"model":[21],"predictive":[22],"control":[23,48,72],"(MPC)":[24],"framework":[25],"robustly":[27],"stabilize":[28],"the":[29,35,62,69,87,92,105,110,114,124,128,135,143,146],"AUV":[30],"error":[32,138],"defined":[33],"in":[34],"local":[36],"frame.":[37],"The":[38,95],"essence":[39],"our":[41],"design":[42,86],"centers":[43],"on":[44],"leveraging":[45],"robust":[47],"contraction":[49],"metric":[50],"(RCCM)":[51],"construct":[53],"disturbance":[55],"invariant":[56,81],"set,":[57],"ensuring":[58,123],"bounded":[59],"deviation":[60],"between":[61],"actual":[63],"nominal":[65],"system":[66],"states":[67],"under":[68],"RCCM-based":[70,80,97],"feedback":[71],"law.":[73],"Subsequently,":[74],"an":[75],"outer":[76],"approximation":[77],"this":[79],"set":[82],"is":[83,102],"developed":[84],"cross-section":[89],"tighten":[91],"input":[93],"constraint.":[94],"resulting":[96],"MPC":[99],"(RCCM-MPC)":[100],"scheme":[101,131],"independent":[103],"spatially":[106],"varying":[107],"metric,":[108],"enhancing":[109],"computational":[111],"efficiency":[112],"proposed":[115,129,147],"scheme.":[116],"Then":[117],"we":[118],"establish":[119],"sufficient":[120],"conditions":[121],"for":[122],"recursive":[125],"feasibility":[126],"RCCM-MPC":[130,148],"stability":[133],"closed-loop":[136],"dynamics.":[139],"Simulation":[140],"results":[141],"demonstrate":[142],"effectiveness":[144],"approach.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}