{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T05:42:12Z","timestamp":1778910132584,"version":"3.51.4"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2019,12,24]],"date-time":"2019-12-24T00:00:00Z","timestamp":1577145600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2019,12,24]],"date-time":"2019-12-24T00:00:00Z","timestamp":1577145600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci. China Inf. Sci."],"published-print":{"date-parts":[[2020,1]]},"DOI":"10.1007\/s11432-019-1470-x","type":"journal-article","created":{"date-parts":[[2019,12,27]],"date-time":"2019-12-27T11:03:07Z","timestamp":1577444587000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Unscented Kalman-filter-based sliding mode control for an underwater gliding snake-like robot"],"prefix":"10.1007","volume":"63","author":[{"given":"Jingge","family":"Tang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian","family":"Chang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aiqun","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,12,24]]},"reference":[{"key":"1470_CR1","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1007\/s00773-013-0253-y","volume":"20","author":"S Gom\u00e1riz","year":"2015","unstructured":"Gom\u00e1riz S, Masmitj\u00e1 I, Gonz\u00e1lez J, et al. GUANAY-II: an autonomous underwater vehicle for vertical\/horizontal sampling. J Mar Sci Technol, 2015, 20: 81\u201393","journal-title":"J Mar Sci Technol"},{"key":"1470_CR2","doi-asserted-by":"publisher","first-page":"227","DOI":"10.1016\/j.oceaneng.2017.07.020","volume":"143","author":"C W Chen","year":"2017","unstructured":"Chen C W, Jiang Y, Huang H C, et al. Computational fluid dynamics study of the motion stability of an autonomous underwater helicopter. Ocean Eng, 2017, 143: 227\u2013239","journal-title":"Ocean Eng"},{"key":"1470_CR3","doi-asserted-by":"publisher","first-page":"447","DOI":"10.1109\/48.972077","volume":"26","author":"D C Webb","year":"2001","unstructured":"Webb D C, Simonetti P J, Jones C P. SLOCUM: an underwater glider propelled by environmental energy. IEEE J Ocean Eng, 2001, 26: 447\u2013452","journal-title":"IEEE J Ocean Eng"},{"key":"1470_CR4","doi-asserted-by":"publisher","first-page":"437","DOI":"10.1109\/48.972076","volume":"26","author":"J Sherman","year":"2001","unstructured":"Sherman J, Davis R E, Owens W B, et al. The autonomous underwater glider Spray. IEEE J Ocean Eng, 2001, 26: 437\u2013446","journal-title":"IEEE J Ocean Eng"},{"key":"1470_CR5","doi-asserted-by":"publisher","first-page":"424","DOI":"10.1109\/48.972073","volume":"26","author":"C C Eriksen","year":"2001","unstructured":"Eriksen C C, Osse T J, Light R D, et al. Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE J Ocean Eng, 2001, 26: 424\u2013436","journal-title":"IEEE J Ocean Eng"},{"key":"1470_CR6","doi-asserted-by":"publisher","first-page":"721","DOI":"10.1007\/s13344-011-0058-x","volume":"25","author":"J C Yu","year":"2011","unstructured":"Yu J C, Zhang A Q, Jin W M, et al. Development and experiments of the Sea-Wing underwater glider. China Ocean Eng, 2011, 25: 721\u2013736","journal-title":"China Ocean Eng"},{"key":"1470_CR7","doi-asserted-by":"publisher","first-page":"405","DOI":"10.1007\/978-3-319-23778-7_27","volume-title":"Experimental Robotics","author":"R K Katzschmann","year":"2016","unstructured":"Katzschmann R K, Marchese A D, Rus D. Hydraulic autonomous soft robotic fish for 3D swimming. In: Experimental Robotics. Berlin: Springer, 2016. 405\u2013420"},{"key":"1470_CR8","doi-asserted-by":"publisher","first-page":"158","DOI":"10.1126\/science.aaf4292","volume":"353","author":"S J Park","year":"2016","unstructured":"Park S J, Gazzola M, Park K S, et al. Phototactic guidance of a tissue-engineered soft-robotic ray. Science, 2016, 353: 158\u2013162","journal-title":"Science"},{"key":"1470_CR9","doi-asserted-by":"publisher","first-page":"44","DOI":"10.1109\/MRA.2015.2506121","volume":"23","author":"E Kelasidi","year":"2016","unstructured":"Kelasidi E, Liljeback P, Pettersen K Y, et al. Innovation in underwater robots: biologically inspired swimming snake robots. IEEE Robot Autom Mag, 2016, 23: 44\u201362","journal-title":"IEEE Robot Autom Mag"},{"key":"1470_CR10","first-page":"769","volume":"40","author":"A F Zhang","year":"2018","unstructured":"Zhang A F, Ma S G, Li B, et al. Tracking control of tangential velocity of eel robot based on iterative learning control. Robot, 2018, 40: 769\u2013778","journal-title":"Robot"},{"key":"1470_CR11","doi-asserted-by":"publisher","first-page":"260","DOI":"10.1109\/TMECH.2019.2891290","volume":"24","author":"Z X Wu","year":"2019","unstructured":"Wu Z X, Yu J Z, Yuan J, et al. Towards a gliding robotic dolphin: design, modeling, and experiments. IEEE\/ASME Trans Mech, 2019, 24: 260\u2013270","journal-title":"IEEE\/ASME Trans Mech"},{"key":"1470_CR12","first-page":"387","volume-title":"The underwater swimming manipulator-a bio-inspired AUV","author":"J Sverdrup-Thygeson","year":"2016","unstructured":"Sverdrup-Thygeson J, Kelasidi E, Pettersen K Y, et al. The underwater swimming manipulator-a bio-inspired AUV. In: Proceedings of IEEE\/OES Autonomous Underwater Vehicles (AUV), Tokyo, 2016. 387\u2013395"},{"key":"1470_CR13","first-page":"174","volume-title":"Locomotion efficiency of underwater snake robots with thrusters","author":"E Kelasidi","year":"2016","unstructured":"Kelasidi E, Pettersen K Y, Liljeb\u00e4ck P, et al. Locomotion efficiency of underwater snake robots with thrusters. In: Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, 2016. 174\u2013181"},{"key":"1470_CR14","first-page":"517","volume-title":"Autonomous sampling of water columns using gliding robotic fish: control algorithms and field experiments","author":"F Zhang","year":"2015","unstructured":"Zhang F, En-Nasr O, Litchman E, et al. Autonomous sampling of water columns using gliding robotic fish: control algorithms and field experiments. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Washington, 2015. 517\u2013522"},{"key":"1470_CR15","first-page":"267","volume-title":"Mechatronic design and implementation of a novel gliding robotic dolphin","author":"Z X Wu","year":"2015","unstructured":"Wu Z X, Yu J Z, Yuan J, et al. Mechatronic design and implementation of a novel gliding robotic dolphin. In: Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, 2015. 267\u2013272"},{"key":"1470_CR16","first-page":"200","volume":"40","author":"M M Noh","year":"2011","unstructured":"Noh M M, Arshad M R, Mokhtar R M. Depth and pitch control of USM underwater glider: performance comparison PID vs. LQR. Indian J Geo-Mar Sci, 2011, 40: 200\u2013206","journal-title":"Indian J Geo-Mar Sci"},{"key":"1470_CR17","doi-asserted-by":"publisher","first-page":"732","DOI":"10.1016\/j.proeng.2017.02.322","volume":"176","author":"R S Tchilian","year":"2017","unstructured":"Tchilian R S, Rafikova E, Gafurov S A, et al. Optimal control of an underwater glider vehicle. Procedia Eng, 2017, 176: 732\u2013740","journal-title":"Procedia Eng"},{"key":"1470_CR18","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1007\/s12555-015-0047-6","volume":"14","author":"J H Moon","year":"2016","unstructured":"Moon J H, Jee S C, Lee H J. Output-feedback control of underwater gliders by buoyancy and pitching moment control: feedback linearization approach. Int J Control Autom Syst, 2016, 14: 255\u2013262","journal-title":"Int J Control Autom Syst"},{"key":"1470_CR19","doi-asserted-by":"publisher","first-page":"554","DOI":"10.1016\/j.isatra.2018.06.012","volume":"80","author":"H Q Sang","year":"2018","unstructured":"Sang H Q, Zhou Y, Sun X J, et al. Heading tracking control with an adaptive hybrid control for under actuated underwater glider. ISA Trans, 2018, 80: 554\u2013563","journal-title":"ISA Trans"},{"key":"1470_CR20","doi-asserted-by":"publisher","first-page":"024201","DOI":"10.1007\/s11432-017-9285-6","volume":"61","author":"J C Liu","year":"2018","unstructured":"Liu J C, Wu Z X, Yu J Z, et al. Sliding mode fuzzy control-based path-following control for a dolphin robot. Sci China Inf Sci, 2018, 61: 024201","journal-title":"Sci China Inf Sci"},{"key":"1470_CR21","doi-asserted-by":"publisher","first-page":"112207","DOI":"10.1007\/s11432-017-9434-7","volume":"61","author":"Z W F Zhang","year":"2018","unstructured":"Zhang Z, Wang F, Guo Y, et al. Multivariable sliding mode backstepping controller design for quadrotor UAV based on disturbance observer. Sci China Inf Sci, 2018, 61: 112207","journal-title":"Sci China Inf Sci"},{"key":"1470_CR22","doi-asserted-by":"publisher","first-page":"012206","DOI":"10.1007\/s11432-017-9389-9","volume":"62","author":"C Pukdeboon","year":"2019","unstructured":"Pukdeboon C. Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft. Sci China Inf Sci, 2019, 62: 012206","journal-title":"Sci China Inf Sci"},{"key":"1470_CR23","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1109\/41.184820","volume":"40","author":"W B Gao","year":"1993","unstructured":"Gao W B, Hung J C. Variable structure control of nonlinear systems: a new approach. IEEE Trans Ind Electron, 1993, 40: 45\u201355","journal-title":"IEEE Trans Ind Electron"},{"key":"1470_CR24","first-page":"4715","volume-title":"Nonlinear observer design for stabilization of gliding robotic fish","author":"F T Zhang","year":"2014","unstructured":"Zhang F T, Tan X B. Nonlinear observer design for stabilization of gliding robotic fish. In: Proceedings of American Control Conference, Portland, 2014. 4715\u20134720"},{"key":"1470_CR25","doi-asserted-by":"publisher","first-page":"6815","DOI":"10.1109\/TIE.2017.2674606","volume":"64","author":"J Yuan","year":"2017","unstructured":"Yuan J, Wu Z X, Yu J Z, et al. Sliding mode observer-based heading control for a gliding robotic dolphin. IEEE Trans Ind Electron, 2017, 64: 6815\u20136824","journal-title":"IEEE Trans Ind Electron"},{"key":"1470_CR26","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1109\/JPROC.2003.823141","volume":"92","author":"S J Julier","year":"2004","unstructured":"Julier S J, Uhlmann J K. Unscented filtering and nonlinear estimation. Proc IEEE, 2004, 92: 401\u2013422","journal-title":"Proc IEEE"},{"key":"1470_CR27","first-page":"5757","volume":"218","author":"M P Aghababa","year":"2012","unstructured":"Aghababa M P, Akbari M E. A chattering-free robust adaptive sliding mode controller for synchronization of two different chaotic systems with unknown uncertainties and external disturbances. Appl Math Comput, 2012, 218: 5757\u20135768","journal-title":"Appl Math Comput"},{"key":"1470_CR28","volume-title":"Robust Adaptive Control","author":"P A Ioannou","year":"1996","unstructured":"Ioannou P A, Sun J. Robust Adaptive Control. Upper Saddle River: Prentice-Hall, 1996"},{"key":"1470_CR29","first-page":"555","volume-title":"Sliding mode tracking control of an autonomous underwater glider","author":"H Yang","year":"2010","unstructured":"Yang H, Ma J. Sliding mode tracking control of an autonomous underwater glider. In: Proceedings of International Conference on Computer Application and System Modeling (ICCASM), Taiyuan, 2010. 555\u2013558"}],"container-title":["Science China Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-019-1470-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11432-019-1470-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-019-1470-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,12]],"date-time":"2023-05-12T13:59:22Z","timestamp":1683899962000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11432-019-1470-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,12,24]]},"references-count":29,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2020,1]]}},"alternative-id":["1470"],"URL":"https:\/\/doi.org\/10.1007\/s11432-019-1470-x","relation":{},"ISSN":["1674-733X","1869-1919"],"issn-type":[{"value":"1674-733X","type":"print"},{"value":"1869-1919","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,12,24]]},"assertion":[{"value":"22 April 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 June 2019","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 July 2019","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 December 2019","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"112207"}}