{"id":"https://openalex.org/W2537003627","doi":"https://doi.org/10.1109/codit.2016.7593613","title":"Application of adaptive sliding mode control with integral/exponential adaptation law to mechanical manipulators","display_name":"Application of adaptive sliding mode control with integral/exponential adaptation law to mechanical manipulators","publication_year":2016,"publication_date":"2016-04-01","ids":{"openalex":"https://openalex.org/W2537003627","doi":"https://doi.org/10.1109/codit.2016.7593613","mag":"2537003627"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2016.7593613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007452696","display_name":"Jiang Zhu","orcid":"https://orcid.org/0000-0003-3924-1234"},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jiang Zhu","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada","institution_ids":["https://openalex.org/I51768193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046653692","display_name":"Karim Khayati","orcid":null},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Karim Khayati","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada","institution_ids":["https://openalex.org/I51768193"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.389,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":1,"citation_normalized_percentile":{"value":0.288006,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":66,"max":73},"biblio":{"volume":null,"issue":null,"first_page":"500","last_page":"505"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9989,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9948,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.528196},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.50671464},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.4387737}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8231658},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.7488258},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6353822},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6213955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5552348},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5319818},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.528196},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5158745},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.50671464},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.48195168},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46576977},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.44828945},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.4387737},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.43084085},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4242741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4213665},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35978866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3380859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2713045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24190083},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.23781338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1432606},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12716869},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07280862},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2016.7593613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.42,"display_name":"Peace, justice, and strong institutions","id":"https://metadata.un.org/sdg/16"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":37,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1487158671","https://openalex.org/W1509235676","https://openalex.org/W1592648094","https://openalex.org/W1970597092","https://openalex.org/W1988367613","https://openalex.org/W1988442902","https://openalex.org/W1993991791","https://openalex.org/W1999558720","https://openalex.org/W2006103574","https://openalex.org/W2017382559","https://openalex.org/W2021904062","https://openalex.org/W2034088441","https://openalex.org/W2062763880","https://openalex.org/W2064551186","https://openalex.org/W2065254272","https://openalex.org/W2087383031","https://openalex.org/W2095844124","https://openalex.org/W2113766349","https://openalex.org/W2116243329","https://openalex.org/W2129275525","https://openalex.org/W2129520754","https://openalex.org/W2134668622","https://openalex.org/W2135493101","https://openalex.org/W2136053954","https://openalex.org/W2143880481","https://openalex.org/W2146097309","https://openalex.org/W2146356627","https://openalex.org/W2161101904","https://openalex.org/W2177794865","https://openalex.org/W2216195250","https://openalex.org/W2309824955","https://openalex.org/W2328070265","https://openalex.org/W4231886683","https://openalex.org/W4238000550","https://openalex.org/W4300885720","https://openalex.org/W50232775"],"related_works":["https://openalex.org/W4384821980","https://openalex.org/W4292702743","https://openalex.org/W2899899983","https://openalex.org/W2726654316","https://openalex.org/W2392286806","https://openalex.org/W2388459438","https://openalex.org/W2165744821","https://openalex.org/W2021587409","https://openalex.org/W1979692063","https://openalex.org/W1496250982"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"discuss":[4],"the":[5,45,73,76],"application":[6],"of":[7,44,48,75],"a":[8,18,28,41],"recently":[9],"proposed":[10,36,77],"adaptive":[11],"sliding":[12],"mode":[13],"control":[14,63],"(ASMC)":[15],"design":[16,37],"with":[17,32,52,59],"novel":[19],"switching":[20],"gain":[21],"dynamics,":[22],"called":[23],"integral/exponential":[24],"adaptation":[25],"law,":[26],"to":[27],"five-link":[29],"robot":[30],"manipulator":[31],"uncertain":[33],"dynamics.":[34],"The":[35,69],"does":[38],"not":[39],"require":[40],"priori":[42],"knowledge":[43],"upper":[46],"bounds":[47],"perturbations.":[49],"Robust":[50],"stability":[51],"finite":[53],"time":[54],"convergence":[55],"(FTC)":[56],"is":[57],"obtained":[58],"low":[60],"chatter":[61],"on":[62],"action":[64],"and":[65],"fast":[66],"transient":[67],"performance.":[68],"simulation":[70],"results":[71],"demonstrate":[72],"effectiveness":[74],"design.":[78]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2537003627","counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2024-12-09T11:52:47.141794","created_date":"2016-10-28"}