{"id":"https://openalex.org/W7212375088","doi":"https://doi.org/10.1002/rnc.70739","title":"Neural\u2010Network\u2010Based Adaptive Sliding Mode Control for Robotic Prescribed\u2010Instant Trajectory Tracking","display_name":"Neural\u2010Network\u2010Based Adaptive Sliding Mode Control for Robotic Prescribed\u2010Instant Trajectory Tracking","publication_year":2026,"publication_date":"2026-09-11","ids":{"openalex":"https://openalex.org/W7212375088","doi":"https://doi.org/10.1002/rnc.70739"},"language":"en","primary_location":{"id":"doi:10.1002/rnc.70739","doi":"https://doi.org/10.1002/rnc.70739","is_oa":true,"landing_page_url":"https://doi.org/10.1002/rnc.70739","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rnc.70739","source":{"id":"https://openalex.org/S156578089","display_name":"International Journal of Robust and Nonlinear Control","issn_l":"1049-8923","issn":["1049-8923","1099-1239"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-2","norway-1"],"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robust and Nonlinear Control","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rnc.70739","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086660773","display_name":"Shuaidong Yang","orcid":"https://orcid.org/0000-0002-8133-4525","observed_orcids":["https://orcid.org/0000-0002-8133-4525","https://orcid.org/0000-0001-6217-2009"]},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaidong Yang","raw_affiliation_strings":["School of Automation Chongqing University  Chongqing City China"],"raw_orcid":"https://orcid.org/0000-0002-8133-4525","affiliations":[{"raw_affiliation_string":"School of Automation Chongqing University  Chongqing City China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025102253","display_name":"Yizhuo Sun","orcid":"https://orcid.org/0000-0003-4264-5723","observed_orcids":["https://orcid.org/0000-0003-4264-5723","https://orcid.org/0009-0003-3338-4610"]},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yizhuo Sun","raw_affiliation_strings":["School of Automation Chongqing University  Chongqing City China"],"raw_orcid":"https://orcid.org/0009-0003-3338-4610","affiliations":[{"raw_affiliation_string":"School of Automation Chongqing University  Chongqing City China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010242992","display_name":"Jiyuan Kuang","orcid":"https://orcid.org/0000-0003-2592-2864","observed_orcids":["https://orcid.org/0000-0003-2592-2864"]},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyuan Kuang","raw_affiliation_strings":["Department of Control Science and Engineering Harbin Institute of Technology  Weihai China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering Harbin Institute of Technology  Weihai China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5025102253"],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":{"value":4270,"currency":"USD","value_usd":4270},"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.72223943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":9.999999747378752e-05,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":9.999999747378752e-05,"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/trajectory-tracking","display_name":"trajectory tracking","score":0.8840000033378601},{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.9909999966621399},{"id":"https://openalex.org/keywords/actuator-saturation","display_name":"actuator saturation","score":0.7870000004768372},{"id":"https://openalex.org/keywords/model-uncertainty","display_name":"model uncertainty","score":0.8389999866485596},{"id":"https://openalex.org/keywords/neural-network-approximation","display_name":"neural network approximation","score":0.8629999756813049},{"id":"https://openalex.org/keywords/auxiliary-systems","display_name":"auxiliary systems","score":0.7760000228881836},{"id":"https://openalex.org/keywords/convergence-time","display_name":"convergence time","score":0.5630000233650208},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.902999997138977}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8499000072479248},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7149999737739563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6096000075340271},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5680999755859375},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5189999938011169},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5174999833106995},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5103999972343445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5020999908447266},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4977000057697296},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4374000132083893},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.428600013256073},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3919999897480011},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.387800008058548},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.3393999934196472},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.32100000977516174},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2777000069618225},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25699999928474426}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rnc.70739","doi":"https://doi.org/10.1002/rnc.70739","is_oa":true,"landing_page_url":"https://doi.org/10.1002/rnc.70739","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rnc.70739","source":{"id":"https://openalex.org/S156578089","display_name":"International Journal of Robust and Nonlinear Control","issn_l":"1049-8923","issn":["1049-8923","1099-1239"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-2","norway-1"],"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robust and Nonlinear Control","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1002/rnc.70739","doi":"https://doi.org/10.1002/rnc.70739","is_oa":true,"landing_page_url":"https://doi.org/10.1002/rnc.70739","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/rnc.70739","source":{"id":"https://openalex.org/S156578089","display_name":"International Journal of Robust and Nonlinear Control","issn_l":"1049-8923","issn":["1049-8923","1099-1239"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-2","norway-1"],"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robust and Nonlinear Control","raw_type":"journal-article"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G3272615653","display_name":null,"funder_award_id":"62503069","funder_id":"https://openalex.org/F4320331088","funder_display_name":"Natural Science Foundation for Young Scientists of Shanxi Province"},{"id":"https://openalex.org/G4690175709","display_name":null,"funder_award_id":"62503132","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8362411810","display_name":null,"funder_award_id":"ZR2025QC1515","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320331088","display_name":"Natural Science Foundation for Young Scientists of Shanxi Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7212375088.pdf","grobid_xml":"https://content.openalex.org/works/W7212375088.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1976858236","https://openalex.org/W1988367613","https://openalex.org/W2029700848","https://openalex.org/W2795838168","https://openalex.org/W2801021627","https://openalex.org/W2970938399","https://openalex.org/W3013442540","https://openalex.org/W3030511249","https://openalex.org/W3116002447","https://openalex.org/W3196945107","https://openalex.org/W3198710631","https://openalex.org/W4200125485","https://openalex.org/W4200341220","https://openalex.org/W4224223383","https://openalex.org/W4224981432","https://openalex.org/W4282964246","https://openalex.org/W4307227110","https://openalex.org/W4313240864","https://openalex.org/W4321770453","https://openalex.org/W4366147017","https://openalex.org/W4387312175","https://openalex.org/W4387674851","https://openalex.org/W4387831731","https://openalex.org/W4391305722","https://openalex.org/W4393046040","https://openalex.org/W4394726793","https://openalex.org/W4395056487","https://openalex.org/W4397026574","https://openalex.org/W4400429151","https://openalex.org/W4403094351","https://openalex.org/W4403123250","https://openalex.org/W4404488353","https://openalex.org/W4409382110","https://openalex.org/W7160084343"],"related_works":[],"abstract_inverted_index":{"ABSTRACT":[0],"This":[1],"article":[2],"develops":[3],"an":[4,42,85],"innovative":[5],"prescribed\u2010instant":[6,39,95,136],"sliding":[7,96],"mode":[8,97],"control":[9,31,101],"strategy,":[10],"specifically":[11],"designed":[12],"to":[13,41,55,83,91,123],"ensure":[14],"robust":[15],"trajectory":[16,35],"tracking":[17,36,78],"performance":[18],"for":[19,68],"robotic":[20],"manipulators":[21],"under":[22],"model":[23,71],"uncertainties":[24],"and":[25,105,144],"actuator":[26,113],"saturation":[27,114],"limitations.":[28],"The":[29,77,99],"proposed":[30,100],"architecture":[32],"guarantees":[33],"precise":[34,69],"while":[37,108],"enforcing":[38],"convergence":[40,126,137],"arbitrary":[43],"time\u2010varying":[44],"reference":[45],"profile":[46],"at":[47],"a":[48,93,128],"user\u2010specified":[49],"instant.":[50],"Neural":[51],"networks":[52],"are":[53,80],"utilized":[54],"approximate":[56],"the":[57,61,66,74,110,121,125,145,149],"unknown":[58],"parameters":[59,72],"of":[60,112,148],"overall":[62],"system":[63],"model,":[64],"eliminating":[65],"requirement":[67],"dynamic":[70],"in":[73,115],"controller":[75],"design.":[76],"errors":[79],"then":[81],"leveraged":[82],"construct":[84],"auxiliary":[86],"system,":[87],"which":[88],"is":[89,138,151],"used":[90],"implement":[92],"new":[94],"controller.":[98],"scheme":[102],"augments":[103],"robustness":[104],"accelerates":[106],"convergence,":[107],"mitigating":[109],"impact":[111],"practical":[116,146],"implementations.":[117],"Furthermore,":[118],"it":[119],"provides":[120],"flexibility":[122],"prescribe":[124],"time":[127],"priori,":[129],"thereby":[130],"ensuring":[131],"stringent":[132],"trajectory\u2010tracking":[133],"accuracy.":[134],"Its":[135],"theoretically":[139],"guaranteed":[140],"via":[141],"Lyapunov":[142],"analysis,":[143],"effectiveness":[147],"method":[150],"substantiated":[152],"through":[153],"experimental":[154],"studies.":[155]},"counts_by_year":[],"updated_date":"2026-09-26T08:19:03.415552","created_date":"2026-09-13T00:00:00"}