{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,9]],"date-time":"2025-05-09T15:26:49Z","timestamp":1746804409356,"version":"3.40.5"},"reference-count":15,"publisher":"Wiley","license":[{"start":{"date-parts":[[2013,1,1]],"date-time":"2013-01-01T00:00:00Z","timestamp":1356998400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"funder":[{"DOI":"10.13039\/501100003093","name":"Ministry of Higher Education, Malaysia","doi-asserted-by":"publisher","award":["R.J130000.7823.4L049"],"award-info":[{"award-number":["R.J130000.7823.4L049"]}],"id":[{"id":"10.13039\/501100003093","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005417","name":"Universiti Teknologi Malaysia","doi-asserted-by":"publisher","award":["R.J130000.7823.4L049"],"award-info":[{"award-number":["R.J130000.7823.4L049"]}],"id":[{"id":"10.13039\/501100005417","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Applied Mathematics"],"published-print":{"date-parts":[[2013]]},"abstract":"<jats:p>A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinear<mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M2\"><mml:mrow><mml:msub><mml:mrow><mml:mi>H<\/mml:mi><\/mml:mrow><mml:mrow><mml:mi>\u221e<\/mml:mi><\/mml:mrow><\/mml:msub><\/mml:mrow><\/mml:math>and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.<\/jats:p>","DOI":"10.1155\/2013\/732738","type":"journal-article","created":{"date-parts":[[2013,11,4]],"date-time":"2013-11-04T16:02:18Z","timestamp":1383580938000},"page":"1-7","source":"Crossref","is-referenced-by-count":6,"title":["Nonlinear<mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M1\"><mml:mrow><mml:msub><mml:mrow><mml:mi>H<\/mml:mi><\/mml:mrow><mml:mrow><mml:mi>\u221e<\/mml:mi><\/mml:mrow><\/mml:msub><\/mml:mrow><\/mml:math>Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation"],"prefix":"10.1155","volume":"2013","author":[{"given":"Zool H.","family":"Ismail","sequence":"first","affiliation":[{"name":"Centre for Artificial Intelligence & Robotics, Universiti Teknologi Malaysia, Jalan Semarak, 54100 Kuala Lumpur, Malaysia"}]},{"given":"Matthew W.","family":"Dunnigan","sequence":"additional","affiliation":[{"name":"School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK"}]}],"member":"311","reference":[{"issue":"7","key":"1","doi-asserted-by":"crossref","first-page":"933","DOI":"10.7210\/jrsj.18.933","volume":"18","year":"2000","journal-title":"Journal of the Robotics Society of Japan"},{"issue":"4","key":"2","doi-asserted-by":"crossref","first-page":"462","DOI":"10.1109\/JOE.1985.1145131","volume":"10","year":"1985","journal-title":"IEEE Journal of Oceanic Engineering"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/48.107143"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.1993.236372"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1016\/S0029-8018(03)00048-9"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2004.03.016"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1080\/00207178408933284"},{"year":"1991","key":"8"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2011.05.014"},{"year":"2004","key":"11"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1115\/1.1468995"},{"year":"1994","key":"16"},{"year":"2003","key":"17"},{"year":"2001","key":"19"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(00)00100-7"}],"container-title":["Journal of Applied Mathematics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jam\/2013\/732738.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jam\/2013\/732738.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jam\/2013\/732738.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,21]],"date-time":"2017-06-21T21:23:25Z","timestamp":1498080205000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/jam\/2013\/732738\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013]]},"references-count":15,"alternative-id":["732738","732738"],"URL":"https:\/\/doi.org\/10.1155\/2013\/732738","relation":{},"ISSN":["1110-757X","1687-0042"],"issn-type":[{"type":"print","value":"1110-757X"},{"type":"electronic","value":"1687-0042"}],"subject":[],"published":{"date-parts":[[2013]]}}}