{"id":"https://openalex.org/W7163688979","doi":"https://doi.org/10.48550/arxiv.2606.05709","title":"Tracking Control for a Dynamic Model of an Underwater Submersible","display_name":"Tracking Control for a Dynamic Model of an Underwater Submersible","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163688979","doi":"https://doi.org/10.48550/arxiv.2606.05709"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.05709","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05709","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.05709","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050334224","display_name":"Matthew Hampsey","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hampsey, Matthew","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022864763","display_name":"Pieter van Goor","orcid":"https://orcid.org/0000-0003-4391-7014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"van Goor, Pieter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137989865","display_name":"Ravi Banavar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Banavar, Ravi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137940209","display_name":"Robert Mahony","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahony, Robert","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9876000285148621,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9876000285148621,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.0032999999821186066,"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/T11416","display_name":"Numerical methods for differential equations","score":0.0013000000035390258,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"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":0.7709000110626221},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.7114999890327454},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5375999808311462},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.51910001039505},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5105000138282776},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4309000074863434},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.39500001072883606},{"id":"https://openalex.org/keywords/error-function","display_name":"Error function","score":0.3736000061035156}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7709000110626221},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.7114999890327454},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5375999808311462},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.51910001039505},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5105000138282776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45320001244544983},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4309000074863434},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39500001072883606},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3937000036239624},{"id":"https://openalex.org/C202286095","wikidata":"https://www.wikidata.org/wiki/Q579262","display_name":"Error function","level":2,"score":0.3736000061035156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37209999561309814},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.36660000681877136},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.36149999499320984},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.326200008392334},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2840999960899353},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26330000162124634},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C121770821","wikidata":"https://www.wikidata.org/wiki/Q2072471","display_name":"Hamiltonian system","level":2,"score":0.26019999384880066}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.05709","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05709","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.05709","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05709","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Underwater":[0],"vehicles":[1],"are":[2,75],"naturally":[3],"modelled":[4],"as":[5],"rigid":[6],"bodies":[7],"on":[8,79],"SE(3)":[9],"subjected":[10],"to":[11,27,39,71,80],"added":[12],"mass":[13],"effects.":[14],"The":[15],"passivity":[16],"of":[17,21,35,67,91,97,112],"the":[18,22,33,46,50,98,104,113],"Hamiltonian":[19],"structure":[20],"system":[23,48],"can":[24],"be":[25],"exploited":[26],"design":[28],"energy-based":[29,83],"stabilising":[30],"controllers,":[31],"however,":[32],"extension":[34],"these":[36],"control":[37,41,85,99,105],"designs":[38],"tracking":[40,84],"is":[42,54,101,106],"not":[43,55],"trivial":[44],"since":[45],"error":[47,52,68,72],"for":[49,86],"classical":[51],"formulations":[53],"itself":[56],"Hamiltonian.":[57,76],"In":[58],"this":[59],"paper,":[60],"we":[61],"show":[62],"that":[63,74],"a":[64,87,92,109],"novel":[65],"choice":[66],"function":[69],"leads":[70],"dynamics":[73],"We":[77],"go":[78],"derive":[81],"an":[82],"fully":[88],"coupled":[89],"model":[90],"submersible":[93],"vehicle.":[94],"Asymptotic":[95],"convergence":[96],"scheme":[100],"proved":[102],"and":[103],"demonstrated":[107],"in":[108],"simulation":[110],"study":[111],"Blue":[114],"Robotics":[115],"BlueROV2":[116],"Heavy":[117],"submersible.":[118]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-06T00:00:00"}