{"entities":{"Q1723106":{"pageid":1733847,"ns":120,"title":"Item:Q1723106","lastrevid":77929997,"modified":"2026-05-06T10:23:16Z","type":"item","id":"Q1723106","labels":{"en":{"language":"en","value":"Coordinated depth control of multiple autonomous underwater vehicles by using theory of adaptive sliding mode"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7025157"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$B2BDF13D-8A0B-4E8D-B0AB-792320E2D39B","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"9772f9628ece39a89abd61fe9730f0a313d5ea54","datavalue":{"value":{"text":"Coordinated depth control of multiple autonomous underwater vehicles by using theory of adaptive sliding mode","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1723106$45E508A2-B475-4B8E-84B1-74229DF11770","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"289fa8c857e732ca5891a86a88719de22da8344c","datavalue":{"value":"1407.93270","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$FCD59812-9D6E-4FDE-BDA0-BF81EB7BEE98","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"762b3c286eb70bab1828f9b018ec7790f4face9a","datavalue":{"value":"10.1155/2018/4180275","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$187D8990-9806-450D-B369-CBCA85858808","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"868ce794e546115ce910014d61737379b370ecb7","datavalue":{"value":{"entity-type":"item","numeric-id":473587,"id":"Q473587"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$7183BC3F-BDBD-4D4F-9040-710D4A9C1C92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1fbbd2642f7d9bc6924e0c2c7ae5759dcfd89a9b","datavalue":{"value":{"entity-type":"item","numeric-id":1723105,"id":"Q1723105"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$84DBE009-3019-494F-B832-8765C8BA68B2","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1dec05d6eca21826ddc25d78a5bfbbb3575f964c","datavalue":{"value":{"entity-type":"item","numeric-id":86231,"id":"Q86231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$BB8EBAC9-DDD4-4053-AE5B-F068F9DEF7EF","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"90e6131927e2f821390d615ecfaa0e74b7083d76","datavalue":{"value":{"time":"+2019-02-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1723106$4323261A-7348-4568-B2F7-FAED39A8694A","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"bdf1dd8d75e0e464b721d36ee826e5dec42bc2d7","datavalue":{"value":"Summary: This paper addresses the coordinated depth control problem of multiple autonomous underwater vehicles, which means to maneuver a group of underwater vehicles which move at the same depth synchronously. Firstly, a coordinated error of depth between vehicles and the common desired depth is defined by using extended graph theory in a distributed manner; then a deep-pitch double loop control algorithm based on sliding mode is designed for each vehicle, by which each vehicle is driven to and move at the common depth coordinately. In particular, a pitch reference command is firstly calculated by the predefined coordinated depth error, which can be regarded as the outer loop control, and then, the input rudder angle for each vehicle is derived according to the pitch reference command being as the inner loop control. Considering the uncertainties of the model hydrodynamic parameters, an online parameter adaptive algorithm is introduced to improve the performance of the sliding mode control algorithm proposed. Simulations were performed to verify the theoretical results proposed.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1723106$07ACFB46-91CE-46DE-8264-AA447D356250","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$645CD3F1-D475-4C74-BC7F-672D2F61A2B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$340685B9-D460-47D8-B351-897474347FCF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"bd87a0473bfa14f58600a7b373a6a1e6cb1f2980","datavalue":{"value":"93A15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$EDB27CB9-F067-49FD-94C4-56EC82466E5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$9202594C-F007-4DDC-A977-2C09CDF2778A","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ead077244b0df2fd8a81b8662941035ef1d5cb6a","datavalue":{"value":"7025157","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$B1ACF465-87FF-4B3E-9578-7CBEF1AF0532","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$84E0DA92-610A-4168-A04D-B7289291A224","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6d74c835caf23581ddf441da70a02b4993496991","datavalue":{"value":"https://doi.org/10.1155/2018/4180275","type":"string"},"datatype":"url"},"type":"statement","id":"Q1723106$97D2458C-EA9D-4C07-BB3D-520D3B550C2A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"d3bcaea7f961eeb75c848e4a9dc68f8e652f2371","datavalue":{"value":"W2903456741","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$01A9475A-6F2B-48FB-B1EB-4C22606F65F3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"b83f20a5095e9825812dac00a3d4d07d37747dad","datavalue":{"value":{"entity-type":"item","numeric-id":4879220,"id":"Q4879220"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$3FA8E416-221C-4DB6-8A5A-BA631C5BD224","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f14a57427523304d13bb9e19fd942664ea18d913","datavalue":{"value":{"entity-type":"item","numeric-id":5274053,"id":"Q5274053"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$9537FFE2-7D72-4F65-868E-7C78B6A5FA94","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"31db2ee3153123ae5bbb395baeba4f57c02868ec","datavalue":{"value":{"entity-type":"item","numeric-id":5282251,"id":"Q5282251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$179FE7E0-14D8-4098-894A-17879426C847","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c0a786c23c202652b06d574cdb716b878c910625","datavalue":{"value":{"entity-type":"item","numeric-id":4974376,"id":"Q4974376"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$7CD94527-BDDA-4DE0-8EB0-6ECBE4FBEA0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"58e132aaa5e15eb8cbdad9f2b7c509fae975410d","datavalue":{"value":{"entity-type":"item","numeric-id":2928341,"id":"Q2928341"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$6871A8AF-AA1E-459E-BACB-3CC54B820AF6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ce3a111b7e61a7b0a5318925adef05da5b2bf770","datavalue":{"value":{"entity-type":"item","numeric-id":5300155,"id":"Q5300155"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$4E71267D-BCEB-4088-B57F-38948DF5F203","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"51ffe75a0b9dbc8b98288f855a1eae1c3d604fc6","datavalue":{"value":{"entity-type":"item","numeric-id":2466906,"id":"Q2466906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$767F5ABF-D26E-4121-8A38-C474D1CAD4DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1ec6c5635086603d69abd788cb73fe17de3e821a","datavalue":{"value":{"entity-type":"item","numeric-id":3057040,"id":"Q3057040"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$F1585174-F4A6-4B47-86FF-E1505FD5C889","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"b6b667ddbcfc7e70de4c75aba8130535c299fdf9","datavalue":{"value":"Q128828538","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1723106$82BF4CC1-87B6-4046-A422-67165AA43CF5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"78e86be6a861aec0f875fbf56495a54cebd901b2","datavalue":{"value":{"entity-type":"item","numeric-id":5175688,"id":"Q5175688"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bccbc1bcb159ed04424b7059badd53475065efdd","datavalue":{"value":{"amount":"+0.8334041237831116","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1723106$FD69D822-3A0B-444D-AA34-FE68E9C0E0F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7e6ceea9cc125ef0e6e4eaf158c2a027e8769d97","datavalue":{"value":{"entity-type":"item","numeric-id":2353780,"id":"Q2353780"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"81e9ce883ef77f85c23c882be835ef35c9d5f18d","datavalue":{"value":{"amount":"+0.8003908395767212","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1723106$342D35BE-0CD4-4C2F-AC24-16AA400ABAAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"85a3ffbfa0e8cefbe83ff0dc87996f87a4db2cc9","datavalue":{"value":{"entity-type":"item","numeric-id":4614953,"id":"Q4614953"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"37b938d55b7d42a69757087cda548030f19673d5","datavalue":{"value":{"amount":"+0.7991061806678772","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1723106$921D1D2F-A0DF-4A3F-993B-86361F9958D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"54145e9ae62e87bdd5d58dded5950d62cd7b4e20","datavalue":{"value":{"entity-type":"item","numeric-id":2656873,"id":"Q2656873"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0b37ab14c30bd7e6d9cbeab472c18cce72718bb3","datavalue":{"value":{"amount":"+0.791939914226532","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1723106$B0E588C4-E2E1-42B6-94E0-866117EE1B01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"efc97783b5fa6a0632af2c17800e0fe1ec26b906","datavalue":{"value":{"entity-type":"item","numeric-id":2318964,"id":"Q2318964"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"94ab6c48613d53cab2f490cfcaccc413b5153082","datavalue":{"value":{"amount":"+0.7868132591247559","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1723106$627B011B-A260-4385-9235-A886FBC29AD7","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1723106$70EA1845-C130-4D2D-9092-4017806CB4E3","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Coordinated depth control of multiple autonomous underwater vehicles by using theory of adaptive sliding mode","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Coordinated_depth_control_of_multiple_autonomous_underwater_vehicles_by_using_theory_of_adaptive_sliding_mode"}}}}}