{"id":"https://openalex.org/W2984543943","doi":"https://doi.org/10.3390/s19224987","title":"Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer","display_name":"Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer","publication_year":2019,"publication_date":"2019-11-15","ids":{"openalex":"https://openalex.org/W2984543943","doi":"https://doi.org/10.3390/s19224987","mag":"2984543943","pmid":"https://pubmed.ncbi.nlm.nih.gov/31731789"},"language":"en","primary_location":{"id":"doi:10.3390/s19224987","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19224987","pdf_url":"https://www.mdpi.com/1424-8220/19/22/4987/pdf?version=1574242377","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/22/4987/pdf?version=1574242377","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100717008","display_name":"Hao Xu","orcid":"https://orcid.org/0000-0002-8149-4609"},"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":"Hao Xu","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0002-8149-4609","affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620403","display_name":"Guocheng Zhang","orcid":"https://orcid.org/0000-0002-8604-5554"},"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":true,"raw_author_name":"Guo-cheng Zhang","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102110856","display_name":"Jian Bo Cao","orcid":null},"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":true,"raw_author_name":"Jian Cao","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062880210","display_name":"Shuo Pang","orcid":"https://orcid.org/0000-0002-4113-7084"},"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":"Shuo Pang","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100690146","display_name":"Yushan Sun","orcid":"https://orcid.org/0000-0001-5312-2413"},"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":"Yu-shan Sun","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100620403","https://openalex.org/A5102110856"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.7151,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.8354823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"19","issue":"22","first_page":"4987","last_page":"4987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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":1.0,"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":0.9991000294685364,"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":0.9886999726295471,"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/control-theory","display_name":"Control theory (sociology)","score":0.8931086659431458},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.88374924659729},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.865894615650177},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5470959544181824},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5299941897392273},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5281291604042053},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4956766366958618},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4893316626548767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4476536512374878},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.43189817667007446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3968846797943115},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.22969681024551392},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08926934003829956},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08807039260864258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08335289359092712}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8931086659431458},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.88374924659729},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.865894615650177},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5470959544181824},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5299941897392273},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5281291604042053},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4956766366958618},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4893316626548767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4476536512374878},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.43189817667007446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3968846797943115},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.22969681024551392},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08926934003829956},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08807039260864258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08335289359092712},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19224987","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19224987","pdf_url":"https://www.mdpi.com/1424-8220/19/22/4987/pdf?version=1574242377","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:31731789","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31731789","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:653ecc51810f4ef5b68bfe7783bb0a1b","is_oa":true,"landing_page_url":"https://doaj.org/article/653ecc51810f4ef5b68bfe7783bb0a1b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 19, Iss 22, p 4987 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/22/4987/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19224987","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6891719","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6891719","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19224987","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19224987","pdf_url":"https://www.mdpi.com/1424-8220/19/22/4987/pdf?version=1574242377","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8600000143051147}],"awards":[{"id":"https://openalex.org/G4413938306","display_name":null,"funder_award_id":"51779057, 51709061, 51609047","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6527459802","display_name":null,"funder_award_id":"51609047","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8985910776","display_name":null,"funder_award_id":"51779057","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"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2984543943.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1542112886","https://openalex.org/W1882259562","https://openalex.org/W1882865918","https://openalex.org/W1963698353","https://openalex.org/W1969142081","https://openalex.org/W1998380707","https://openalex.org/W2009903597","https://openalex.org/W2011170233","https://openalex.org/W2021082829","https://openalex.org/W2031759670","https://openalex.org/W2057770661","https://openalex.org/W2107122393","https://openalex.org/W2109346532","https://openalex.org/W2125097724","https://openalex.org/W2129870396","https://openalex.org/W2332283998","https://openalex.org/W2492811885","https://openalex.org/W2518050114","https://openalex.org/W2612054959","https://openalex.org/W2755382889","https://openalex.org/W2761008281","https://openalex.org/W2763909259","https://openalex.org/W2765550637","https://openalex.org/W2806267509","https://openalex.org/W2888308857","https://openalex.org/W2898238472","https://openalex.org/W2911725628","https://openalex.org/W2917496867","https://openalex.org/W2921419842","https://openalex.org/W4248205944"],"related_works":["https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W2790201508","https://openalex.org/W3177256865","https://openalex.org/W1973298112","https://openalex.org/W2378628179","https://openalex.org/W2382713386"],"abstract_inverted_index":{"The":[0,104],"three-dimensional":[1],"(3D)":[2],"path":[3],"following":[4],"problem":[5],"of":[6,36,114,128,140,154],"an":[7],"underactuated":[8,142],"autonomous":[9],"underwater":[10],"vehicle":[11],"with":[12],"ocean":[13,27,74],"currents":[14,28,75],"disturbances":[15,76],"is":[16,30,40,61,86,108,123,134],"addressed":[17],"in":[18,93],"this":[19],"paper.":[20],"Firstly,":[21],"the":[22,26,33,73,79,90,94,100,112,115,119,126,138,141,150,155],"motion":[23],"equation":[24],"under":[25],"disturbance":[29],"established,":[31],"and":[32,56,118,152],"dynamic":[34],"model":[35],"3D":[37],"tracking":[38],"error":[39],"constructed":[41],"based":[42,52,67],"on":[43,53,68],"virtual":[44],"guidance":[45],"method.":[46],"Then,":[47],"a":[48],"finite-time":[49,69],"control":[50],"scheme":[51],"super-twisting":[54,65],"observer":[55,66],"command":[57,83],"filtered":[58,84,116],"backstepping":[59,85,96],"technology":[60],"proposed.":[62],"We":[63],"adopt":[64],"theory":[70,133],"to":[71,88,110,136,148],"observe":[72],"for":[77,98],"improving":[78],"system":[80],"robust.":[81],"A":[82],"proposed":[87],"replace":[89],"differential":[91,101],"process":[92],"conventional":[95],"method":[97],"avoiding":[99],"expansion":[102],"problem.":[103],"filter":[105],"compensation":[106],"loop":[107],"designed":[109,124],"ensure":[111],"accuracy":[113],"signal,":[117],"anti-integration":[120],"saturation":[121],"link":[122],"considering":[125],"influence":[127],"integral":[129],"saturation.":[130],"Lyapunov":[131],"stability":[132,139],"used":[135],"prove":[137],"AUV.":[143],"Simulation":[144],"studies":[145],"are":[146],"conducted":[147],"show":[149],"effectiveness":[151],"robustness":[153],"controller.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
