Feedback-Linearizing Control for Velocity and Attitude Tracking of an ROV with Thruster Dynamics Containing Input Dead Zones. - Jordan Boehm; Eric Berkenpas; Charles Shepard; Derek A. Paley (ACC, 2019)

Dynamics and Control of a Buoyancy-Driven Underwater Vehicle for Estimating and Tracking the Scattering Layer. - Rachel J. Suitor; Eric Berkenpas; Derek A. Paley (IEEE Robotics Autom. Lett., 2023)