{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T18:19:10Z","timestamp":1766600350119,"version":"3.38.0"},"reference-count":35,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2016,7,11]],"date-time":"2016-07-11T00:00:00Z","timestamp":1468195200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2016,9]]},"abstract":"<jats:p> This paper reports a comparative experimental evaluation of one non-model-based proportional derivative (PD) six-degree-of-freedom (6-DOF) controller and two model-based 6-DOF controllers designed to enable low-speed, neutrally buoyant, and fully actuated underwater vehicles to perform 6-DOF set-point regulation and trajectory tracking. We show analytically that the non-model-based PD controller provides locally asymptotically stable set-point regulation, and we show analytically that the model-based controllers provide locally asymptotically stable 6-DOF trajectory tracking. Numerical simulation studies are reported that corroborate the analytical stability results. We report the first comparative experimental evaluation of three different control algorithms for dynamic 6-DOF trajectory tracking of fully actuated underwater vehicles. Experimental results with the Johns Hopkins University remotely operated vehicle (JHU ROV) show that the model-based controllers\u2019 mean absolute position and velocity tracking error is significantly smaller than the non-model-based PD controller for coupled maneuvers. The model-based controllers are shown to outperform the non-model-based controllers over a wide range of variations in the magnitude of derivative feedback gain. The velocity tracking error of the model-based controllers is shown to be on the same order of magnitude as the measurement error of the velocity sensing instrumentation. <\/jats:p>","DOI":"10.1177\/0278364915620032","type":"journal-article","created":{"date-parts":[[2016,2,18]],"date-time":"2016-02-18T03:08:28Z","timestamp":1455764908000},"page":"1164-1184","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":18,"title":["Fully actuated model-based control with six-degree-of-freedom coupled dynamical plant models for underwater vehicles: Theory and experimental evaluation"],"prefix":"10.1177","volume":"35","author":[{"given":"Stephen C","family":"Martin","sequence":"first","affiliation":[{"name":"US Navy Space and Naval Warfare Systems Center Pacific, USA"}]},{"given":"Louis L","family":"Whitcomb","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University, 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