{"id":"https://openalex.org/W2962820702","doi":"https://doi.org/10.3103/s0146411619030027","title":"Adaptive Force-Vision Control of Robot Manipulator Using Sliding Mode and Fuzzy Logic","display_name":"Adaptive Force-Vision Control of Robot Manipulator Using Sliding Mode and Fuzzy Logic","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2962820702","doi":"https://doi.org/10.3103/s0146411619030027","mag":"2962820702"},"language":"en","primary_location":{"id":"doi:10.3103/s0146411619030027","doi":"https://doi.org/10.3103/s0146411619030027","is_oa":false,"landing_page_url":"https://doi.org/10.3103/s0146411619030027","pdf_url":null,"source":{"id":"https://openalex.org/S17203304","display_name":"Automatic Control and Computer Sciences","issn_l":"0146-4116","issn":["0146-4116","1558-108X"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["dongbi-c","jufo-1","norway-1","poland-20","russia-white-list-3"],"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatic Control and Computer Sciences","raw_type":"journal-article"},"volume":null,"type":"article","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/A5000498132","display_name":"Nacereddine Djelal","orcid":"https://orcid.org/0000-0002-4513-0381","observed_orcids":["https://orcid.org/0000-0002-4513-0381"]},"institutions":[{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"N. Djelal","raw_affiliation_strings":["Laboratory of Robotics, Parallelism and Embedded Systems, University of Science and Technology Houari Boumediene, USTHB P.O Box 32 El Alia, 16111, Bab Ezzouar Algiers, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics, Parallelism and Embedded Systems, University of Science and Technology Houari Boumediene, USTHB P.O Box 32 El Alia, 16111, Bab Ezzouar Algiers, Algeria","institution_ids":["https://openalex.org/I157169809"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006668880","display_name":"Nadia Saadia","orcid":"https://orcid.org/0000-0002-2960-1227","observed_orcids":["https://orcid.org/0000-0002-2960-1227"]},"institutions":[{"id":"https://openalex.org/I157169809","display_name":"University of Sciences and Technology Houari Boumediene","ror":"https://ror.org/02kb89c09","country_code":"DZ","type":"education","lineage":["https://openalex.org/I157169809"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"N. Saadia","raw_affiliation_strings":["Laboratory of Robotics, Parallelism and Embedded Systems, University of Science and Technology Houari Boumediene, USTHB P.O Box 32 El Alia, 16111, Bab Ezzouar Algiers, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics, Parallelism and Embedded Systems, University of Science and Technology Houari Boumediene, USTHB P.O Box 32 El Alia, 16111, Bab Ezzouar Algiers, Algeria","institution_ids":["https://openalex.org/I157169809"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003414781","display_name":"Amar Ramdane-Ch\u00e9rif","orcid":"https://orcid.org/0009-0009-7994-8307","observed_orcids":["https://orcid.org/0009-0009-7994-8307"]},"institutions":[{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4390039377","display_name":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles","ror":"https://ror.org/01hcc6p91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4390039377"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"A. Ramdane-Cherif","raw_affiliation_strings":["Laboratory LISV, University of Versailles Saint-Quentin en Yvelines, 10/12 Avenue de l\u2019Europe, 78140 , Velizy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory LISV, University of Versailles Saint-Quentin en Yvelines, 10/12 Avenue de l\u2019Europe, 78140 , Velizy, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I4390039377"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000498132","https://openalex.org/A5003414781","https://openalex.org/A5006668880"],"corresponding_institution_ids":["https://openalex.org/I157169809","https://openalex.org/I195731000","https://openalex.org/I4390039377"],"apc_list":null,"apc_paid":null,"fwci":0.5777,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.62091444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"53","issue":"3","first_page":"203","last_page":"213"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.986299991607666,"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":0.986299991607666,"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":0.0038999998942017555,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0034000000450760126,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-manipulator-control","display_name":"robot manipulator control","score":0.9279999732971191},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"sliding mode control","score":0.8050000071525574},{"id":"https://openalex.org/keywords/fuzzy-logic-control","display_name":"fuzzy logic control","score":0.8790000081062317},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"adaptive control","score":0.8999999761581421},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.8410000205039978},{"id":"https://openalex.org/keywords/model-uncertainty","display_name":"model uncertainty","score":0.5789999961853027},{"id":"https://openalex.org/keywords/nonlinear-sliding-surface","display_name":"nonlinear sliding surface","score":0.7630000114440918},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.8920000195503235}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.815720796585083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6922646164894104},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6231786608695984},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6198468208312988},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5610391497612},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5582771301269531},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5274569988250732},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5217902660369873},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4646320641040802},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45972034335136414},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4580260217189789},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.452053040266037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.448998361825943},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4396745264530182},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.42355838418006897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3817017674446106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2349083125591278},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13240793347358704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10939174890518188},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3103/s0146411619030027","doi":"https://doi.org/10.3103/s0146411619030027","is_oa":false,"landing_page_url":"https://doi.org/10.3103/s0146411619030027","pdf_url":null,"source":{"id":"https://openalex.org/S17203304","display_name":"Automatic Control and Computer Sciences","issn_l":"0146-4116","issn":["0146-4116","1558-108X"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["dongbi-c","jufo-1","norway-1","poland-20","russia-white-list-3"],"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatic Control and Computer Sciences","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04489775v1","doi":null,"is_oa":false,"landing_page_url":"https://hal.science/hal-04489775","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4405252976","host_organization_name":"Centre pour la Communication Scientifique Directe","host_organization_lineage":["https://openalex.org/I4405252976"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Automatic Control and Computer Sciences, 2019, 53 (3), pp.203-213. ⟨10.3103/s0146411619030027⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1553483187","https://openalex.org/W1593239308","https://openalex.org/W1986460820","https://openalex.org/W1991321324","https://openalex.org/W2001959521","https://openalex.org/W2028500576","https://openalex.org/W2043150089","https://openalex.org/W2075230572","https://openalex.org/W2096703548","https://openalex.org/W2115932303","https://openalex.org/W2119201694","https://openalex.org/W2120633566","https://openalex.org/W2122806065","https://openalex.org/W2149620520","https://openalex.org/W2152737511","https://openalex.org/W2174039467","https://openalex.org/W2485010323","https://openalex.org/W2500429628","https://openalex.org/W2506237317","https://openalex.org/W2519574353","https://openalex.org/W2614437707","https://openalex.org/W2763099629","https://openalex.org/W2766679447","https://openalex.org/W4236014485","https://openalex.org/W4243385754","https://openalex.org/W4246131064"],"related_works":["https://openalex.org/W3043969212","https://openalex.org/W4385720506","https://openalex.org/W1997894522","https://openalex.org/W2354170858","https://openalex.org/W2157703339","https://openalex.org/W2368730738","https://openalex.org/W2142053123","https://openalex.org/W2290295293","https://openalex.org/W4388855901","https://openalex.org/W2999321511"],"abstract_inverted_index":{"Abstract":[0],"An":[1],"adaptive":[2],"sliding":[3,54,66],"mode":[4,55],"controller":[5,140],"based":[6],"on":[7],"fuzzy":[8,88],"logic":[9,89],"is":[10],"proposed":[11,68,114],"to":[12,56,69,76,85,92,108,134],"control":[13,115],"a":[14,64,122],"manipulator":[15],"robot":[16,40],"over":[17],"unknown":[18],"surface":[19,67],"trajectory":[20],"using":[21,103],"force-vision":[22],"tracking,":[23],"considering":[24],"uncertainties":[25],"of":[26,52,80,112,121,124,138],"the":[27,39,43,47,50,53,58,71,78,81,86,94,110,113,136,139,142,146],"kinematic,":[28],"dynamic,":[29],"and":[30,60,145],"camera":[31],"models.":[32],"In":[33],"this":[34],"work":[35],"we":[36,117],"show":[37,109],"that":[38],"can":[41],"track":[42],"desired":[44],"trajectories":[45],"overcoming":[46],"model\u2019s":[48,147],"uncertainties,":[49],"use":[51],"reject":[57],"disturbances":[59],"converge":[61],"much":[62],"faster,":[63],"nonlinear":[65],"regulate":[70],"convergence":[72],"speed":[73],"in":[74,126],"order":[75],"illuminate":[77],"overshoot":[79],"system":[82],"response,":[83],"thanks":[84],"online":[87],"adaption,":[90],"used":[91],"generate":[93],"equivalent":[95],"control.":[96],"The":[97,129],"system\u2019s":[98],"stability":[99],"has":[100],"been":[101],"validated":[102],"Lyapunov":[104],"criteria.":[105],"So":[106],"as":[107],"performance":[111],"law,":[116],"performed":[118],"simulations":[119],"consisting":[120],"series":[123],"tests":[125],"various":[127],"conditions.":[128],"obtained":[130],"results":[131],"allowed":[132],"us":[133],"validate":[135],"robustness":[137],"towards":[141],"payload":[143],"variations":[144],"uncertainties.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2019-07-30T00:00:00"}