{"id":"https://openalex.org/W2013190855","doi":"https://doi.org/10.1109/robio.2013.6739481","title":"Adaptive fuzzy nonsingular terminal sliding mode controller for robot manipulator actuated by pneumatic artificial muscles","display_name":"Adaptive fuzzy nonsingular terminal sliding mode controller for robot manipulator actuated by pneumatic artificial muscles","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2013190855","doi":"https://doi.org/10.1109/robio.2013.6739481","mag":"2013190855"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739481","doi":"https://doi.org/10.1109/robio.2013.6739481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739481","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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/A5019819880","display_name":"Amar Rezoug","orcid":"https://orcid.org/0000-0001-8387-9919","observed_orcids":["https://orcid.org/0000-0001-8387-9919"]},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"A. Rezoug","raw_affiliation_strings":["Development of Advanced Technologies, Baba Hassen, Algiers, Algeria","Centre for the Dev. of Adv. Technol., Algiers, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Development of Advanced Technologies, Baba Hassen, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]},{"raw_affiliation_string":"Centre for the Dev. of Adv. Technol., Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021488416","display_name":"Bertrand Tondu","orcid":"https://orcid.org/0000-0002-0301-397X","observed_orcids":["https://orcid.org/0000-0002-0301-397X"]},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]},{"id":"https://openalex.org/I196454796","display_name":"Institut National des Sciences Appliqu\u00e9es de Toulouse","ror":"https://ror.org/01h8pf755","country_code":"FR","type":"education","lineage":["https://openalex.org/I196454796"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"B. Tondu","raw_affiliation_strings":["INSA-LAAS of Toulouse INSA-DGEI, Toulouse, France","LAAS of Toulouse, INSA, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INSA-LAAS of Toulouse INSA-DGEI, Toulouse, France","institution_ids":["https://openalex.org/I196454796"]},{"raw_affiliation_string":"LAAS of Toulouse, INSA, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I196454796"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029907688","display_name":"Mustapha Hamerlain","orcid":"https://orcid.org/0009-0006-2390-9382","observed_orcids":["https://orcid.org/0009-0006-2390-9382"]},"institutions":[{"id":"https://openalex.org/I4210102186","display_name":"Centre de D\u00e9veloppement des Technologies Avanc\u00e9es","ror":"https://ror.org/01ay87255","country_code":"DZ","type":"facility","lineage":["https://openalex.org/I4210102186"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"M. Hamerlain","raw_affiliation_strings":["Development of Advanced Technologies, Baba Hassen, Algiers, Algeria","Centre for the Dev. of Adv. Technol., Algiers, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Development of Advanced Technologies, Baba Hassen, Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]},{"raw_affiliation_string":"Centre for the Dev. of Adv. Technol., Algiers, Algeria","institution_ids":["https://openalex.org/I4210102186"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108141689","display_name":"Mohamed Tadjine","orcid":"https://orcid.org/0000-0001-9715-2673","observed_orcids":["https://orcid.org/0000-0001-9715-2673"]},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"M. Tadjine","raw_affiliation_strings":["National Polytechnic School of Algeries, Av. Hassen Badi, Alger, Algerie","Nat. Polytech. Sch. of Algiers, Algiers, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Polytechnic School of Algeries, Av. Hassen Badi, Alger, Algerie","institution_ids":["https://openalex.org/I2802493600"]},{"raw_affiliation_string":"Nat. Polytech. Sch. of Algiers, Algiers, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3999,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.86795562,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"334","last_page":"339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9980000257492065,"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":0.9980000257492065,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.0005000000237487257,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonsingular-terminal-sliding-mode-control","display_name":"nonsingular terminal sliding mode control","score":0.9760000109672546},{"id":"https://openalex.org/keywords/adaptive-fuzzy-control","display_name":"adaptive fuzzy control","score":0.8519999980926514},{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.734000027179718},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"pneumatic artificial muscles","score":0.9990000128746033},{"id":"https://openalex.org/keywords/chattering-reduction","display_name":"chattering reduction","score":0.9509999752044678},{"id":"https://openalex.org/keywords/time-delay-estimation","display_name":"time delay estimation","score":0.8550000190734863},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.9079999923706055},{"id":"https://openalex.org/keywords/robust-control","display_name":"robust control","score":0.7419999837875366},{"id":"https://openalex.org/keywords/2-dof-manipulator","display_name":"2-DOF manipulator","score":0.8669999837875366}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8767311573028564},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6146562695503235},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5774564743041992},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5420191884040833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4718318581581116},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.46954116225242615},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4430953562259674},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.4394184350967407},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4263575077056885},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.42624160647392273},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4180612862110138},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40272125601768494},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.3784582018852234},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3370057940483093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29994717240333557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24579572677612305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11988446116447449},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0831792950630188},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739481","doi":"https://doi.org/10.1109/robio.2013.6739481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739481","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1970177327","https://openalex.org/W1972653385","https://openalex.org/W2012232855","https://openalex.org/W2047488391","https://openalex.org/W2053036469","https://openalex.org/W2074337214","https://openalex.org/W2108303641","https://openalex.org/W2119111584","https://openalex.org/W2158121031","https://openalex.org/W2168133339"],"related_works":["https://openalex.org/W2036275475","https://openalex.org/W2803612754","https://openalex.org/W2081532724","https://openalex.org/W2168133339","https://openalex.org/W2788613361","https://openalex.org/W2074337214","https://openalex.org/W2247245381","https://openalex.org/W2774679776","https://openalex.org/W2039674899","https://openalex.org/W2911181854"],"abstract_inverted_index":{"In":[0],"this":[1,101],"paper,":[2],"we":[3],"deal":[4],"with":[5],"the":[6,21,24,33,46,51,61,64,84,92,95,98],"robust":[7],"control":[8,18,56],"of":[9,23,63,97],"robot":[10,123],"manipulator":[11,124],"actuated":[12,125],"by":[13,126],"pneumatic":[14,127],"artificial":[15,128],"muscles.":[16,129],"The":[17],"consists":[19],"on":[20,32,45],"combination":[22],"nonsingular":[25,52,108,116],"terminal":[26,53,109,117],"sliding":[27,54,110,118],"mode":[28,55,111,119],"which":[29],"is":[30,80,103],"based":[31,44],"time":[34],"delay":[35],"estimation":[36],"method":[37],"and":[38,60,94,105,113],"an":[39],"adaptive":[40,76],"fuzzy":[41,77,115],"logic":[42,78],"system":[43,65],"gradient":[47],"descends":[48],"algorithm.":[49],"First,":[50],"approach":[57],"was":[58,69],"presented":[59],"stability":[62,73],"in":[66,88],"closed":[67],"loop":[68],"analyzed":[70],"using":[71],"Lyapunov":[72],"theorem.":[74],"Second,":[75],"scheme":[79],"proposed":[81,99],"for":[82],"reducing":[83],"chattering":[85],"effect.":[86],"Third,":[87],"order":[89],"to":[90,107,114],"proof":[91],"efficiency":[93],"superiority":[96],"approach,":[100],"last":[102],"experimented":[104],"compared":[106],"controller":[112,120],"under":[121],"2-DOF":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-10-05T09:50:58.205359","created_date":"2016-06-24T00:00:00"}
