{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:55:13Z","timestamp":1747173313230,"version":"3.40.5"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2023,7,26]],"date-time":"2023-07-26T00:00:00Z","timestamp":1690329600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Underwater vehicles are rich systems with attractive and challenging properties such as nonlinearities, external disturbances, and underactuated dynamics. These make the design of an advanced and robust controller quite a challenging task. This paper focuses on designing a model-free high-order sliding mode controller\u00a0in a six-degree-of-freedom trajectory tracking task. The purpose of the control is accurate trajectory tracking and considerably reducing the chattering phenomenon in situations where the remotely operated vehicle (ROV) works in the presence of external disturbances, measurement errors, and actuator dynamics and nonlinearity, which is not seen in previous research. To demonstrate the stability of the closed-loop system, the Lyapunov theory is employed to ensure the asymptotic stability of tracking errors. A linear Kalman filter for estimating measurement errors is proposed to be used to correct positioning system outputs (speed, position, and attitude). In a hardware-in-the-loop test, the proposed controller for the ROV is tested in a real-time application, considering external disturbances, measurement errors, and actual thrusters. In addition, comparing the outcomes with the performance of the PID controller and the supper twisting controller shows the superiority of the proposed controller. Due to the existence of the measurement noise, spectrum analysis is also performed.<\/jats:p>","DOI":"10.1017\/s0263574723000875","type":"journal-article","created":{"date-parts":[[2023,7,26]],"date-time":"2023-07-26T07:25:47Z","timestamp":1690356347000},"page":"3059-3078","source":"Crossref","is-referenced-by-count":1,"title":["Trajectory tracking control of an underwater vehicle in the presence of disturbance, measurement errors, and actuator dynamic and nonlinearity"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0421-2364","authenticated-orcid":false,"given":"Mostafa","family":"Hosseini","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Abolfazl","family":"Ranjbar Noei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seyed Jalil Sadati","family":"Rostami","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,7,26]]},"reference":[{"key":"S0263574723000875_ref1","doi-asserted-by":"crossref","unstructured":"[1] Hosseini, M. . Improvement in ROV Horizontal Plane Cruising Using Adaptive Method. In: 2016 24th Iranian Conference on Electrical Engineering (ICEE), Shiraz, Iran (2016).","DOI":"10.1109\/IranianCEE.2016.7585830"},{"key":"S0263574723000875_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2010.03.010"},{"key":"S0263574723000875_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2021.102594"},{"key":"S0263574723000875_ref26","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2019\/4509674","article-title":"Adaptive chattering-free sliding mode control of chaotic systems with unknown input nonlinearity via smooth hyperbolic tangent function","volume":"2019","author":"Fang","year":"2019","journal-title":"Math. Probl. Eng."},{"key":"S0263574723000875_ref30","first-page":"45","article-title":"Modeling and parameter identification of a DC motor using constraint optimization technique","volume":"13","author":"Adewusi","year":"2016","journal-title":"IOSR J. Mech. Civ. Eng."},{"key":"S0263574723000875_ref15","doi-asserted-by":"publisher","DOI":"10.3390\/jmse10050601"},{"key":"S0263574723000875_ref29","first-page":"378","article-title":"Research on the hardware-in-the-loop simulation for high dynamic SINS\/GNSS integrated navigation system","volume":"846","author":"Lei","year":"2014","journal-title":"Adv. Mater. Res."},{"key":"S0263574723000875_ref21","doi-asserted-by":"publisher","DOI":"10.5772\/56432"},{"key":"S0263574723000875_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.109991"},{"key":"S0263574723000875_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2017.08.025"},{"key":"S0263574723000875_ref20","first-page":"133","article-title":"Modeling and motion control strategy for AUV","author":"Wan","year":"2011","journal-title":"Autonomous Underwater Vehicles"},{"key":"S0263574723000875_ref5","doi-asserted-by":"publisher","DOI":"10.1080\/00207179308923053"},{"key":"S0263574723000875_ref19","first-page":"2049","article-title":"A study of the control of an underactuated underwater robotic vehicle","volume":"2","author":"Koh","year":"2002","journal-title":"IEEE\/RSJ Int. Conf. Intell. Robot. Syst."},{"key":"S0263574723000875_ref31","doi-asserted-by":"crossref","unstructured":"[31] Proa\u00f1o, P. , Capito, L. , Rosales, A. and Camacho, O. . Sliding Mode Control: Implementation Like Pid for Trajectory-Tracking for Mobile Robots. In: 2015 Asia-Pacific Conference on Computer Aided System Engineering, Quito, Ecuador (2015) pp. 220\u2013225.","DOI":"10.1109\/APCASE.2015.46"},{"key":"S0263574723000875_ref24","doi-asserted-by":"publisher","DOI":"10.5772\/56810"},{"key":"S0263574723000875_ref27","doi-asserted-by":"publisher","DOI":"10.1080\/20464177.2015.1022382"},{"key":"S0263574723000875_ref6","doi-asserted-by":"publisher","DOI":"10.1088\/1757-899X\/576\/1\/012017"},{"key":"S0263574723000875_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/VSS.2016.7506900"},{"key":"S0263574723000875_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2015.06.022"},{"key":"S0263574723000875_ref18","first-page":"347","article-title":"Control of ROVs using a model-free 2nd-order sliding mode approach","author":"Salgado-Jim\u00e9nez","journal-title":"Sliding Mode Control"},{"key":"S0263574723000875_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s40313-020-00599-4"},{"key":"S0263574723000875_ref17","first-page":"185","article-title":"A robust adaptive sliding mode controller for remotely operated vehicles","volume":"28","author":"Hoang","year":"2008","journal-title":"Tech. Mech. Sci. J. Fundam. Appl. Eng. Mech."},{"key":"S0263574723000875_ref28","doi-asserted-by":"publisher","DOI":"10.5545\/sv-jme.2014.2372"},{"key":"S0263574723000875_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1995.525348"},{"key":"S0263574723000875_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2022.113232"},{"key":"S0263574723000875_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2015.10.009"},{"key":"S0263574723000875_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.819600"},{"key":"S0263574723000875_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.109164"},{"key":"S0263574723000875_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2016.10.325"},{"key":"S0263574723000875_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.109071"},{"key":"S0263574723000875_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2018.2809018"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723000875","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,25]],"date-time":"2024-10-25T00:20:01Z","timestamp":1729815601000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723000875\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,26]]},"references-count":31,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2023,10]]}},"alternative-id":["S0263574723000875"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723000875","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2023,7,26]]}}}