{"id":"https://openalex.org/W4211101579","doi":"https://doi.org/10.1007/s10846-022-01571-x","title":"Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method","display_name":"Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method","publication_year":2022,"publication_date":"2022-02-01","ids":{"openalex":"https://openalex.org/W4211101579","doi":"https://doi.org/10.1007/s10846-022-01571-x"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-022-01571-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01571-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01571-x.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01571-x.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008268403","display_name":"Hamid Razmjooei","orcid":"https://orcid.org/0000-0002-6894-2446"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]},{"id":"https://openalex.org/I204490172","display_name":"Shiraz University of Technology","ror":"https://ror.org/04bxa3v83","country_code":"IR","type":"education","lineage":["https://openalex.org/I204490172"]}],"countries":["IR","IT"],"is_corresponding":true,"raw_author_name":"Hamid Razmjooei","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran","Department of Electrical, Energy and Information Engineering, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran","institution_ids":["https://openalex.org/I204490172"]},{"raw_affiliation_string":"Department of Electrical, Energy and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087468988","display_name":"Mohammad Hossein Shafiei","orcid":"https://orcid.org/0000-0002-3989-4676"},"institutions":[{"id":"https://openalex.org/I204490172","display_name":"Shiraz University of Technology","ror":"https://ror.org/04bxa3v83","country_code":"IR","type":"education","lineage":["https://openalex.org/I204490172"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Hossein Shafiei","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Shiraz University of Technology, Shiraz, Iran","institution_ids":["https://openalex.org/I204490172"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038240894","display_name":"Gianluca Palli","orcid":"https://orcid.org/0000-0001-9457-4643"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Palli","raw_affiliation_strings":["Department of Electrical, Energy and Information Engineering, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Energy and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052102472","display_name":"Mohammad Mehdi Arefi","orcid":"https://orcid.org/0000-0003-3986-8205"},"institutions":[{"id":"https://openalex.org/I166459259","display_name":"Shiraz University","ror":"https://ror.org/028qtbk54","country_code":"IR","type":"education","lineage":["https://openalex.org/I166459259"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Mehdi Arefi","raw_affiliation_strings":["Department of Power and Control Engineering, School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Power and Control Engineering, School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran","institution_ids":["https://openalex.org/I166459259"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008268403"],"corresponding_institution_ids":["https://openalex.org/I204490172","https://openalex.org/I9360294"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":3.5178,"has_fulltext":true,"cited_by_count":29,"citation_normalized_percentile":{"value":0.92751137,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"104","issue":"2","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":0.9998999834060669,"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":0.9998999834060669,"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":0.994700014591217,"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":0.9860000014305115,"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/control-theory","display_name":"Control theory (sociology)","score":0.8563512563705444},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6513806581497192},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5507223010063171},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5382823944091797},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.525029718875885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44426408410072327},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.42489105463027954},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4234389662742615},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4107297360897064},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3817288279533386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3677724003791809},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3034765422344208},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.19563746452331543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1737593710422516}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8563512563705444},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6513806581497192},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5507223010063171},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5382823944091797},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.525029718875885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44426408410072327},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.42489105463027954},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4234389662742615},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4107297360897064},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3817288279533386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3677724003791809},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3034765422344208},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.19563746452331543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1737593710422516},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-022-01571-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01571-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01571-x.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:cris.unibo.it:11585/872041","is_oa":true,"landing_page_url":"https://link.springer.com/article/10.1007/s10846-022-01571-x","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10846-022-01571-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01571-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01571-x.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4211101579.pdf","grobid_xml":"https://content.openalex.org/works/W4211101579.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1980568723","https://openalex.org/W1988367613","https://openalex.org/W2051335294","https://openalex.org/W2062063134","https://openalex.org/W2102451716","https://openalex.org/W2129275525","https://openalex.org/W2610923504","https://openalex.org/W2943877528","https://openalex.org/W2947360810","https://openalex.org/W2957451483","https://openalex.org/W2964480856","https://openalex.org/W2979788123","https://openalex.org/W2994805197","https://openalex.org/W2996553703","https://openalex.org/W3007885179","https://openalex.org/W3015547152","https://openalex.org/W3020110102","https://openalex.org/W3094229553","https://openalex.org/W3097671206","https://openalex.org/W3112181519","https://openalex.org/W3112530660","https://openalex.org/W3115820442","https://openalex.org/W3130310964"],"related_works":["https://openalex.org/W2394201814","https://openalex.org/W2544838361","https://openalex.org/W2315418312","https://openalex.org/W2511965278","https://openalex.org/W2501264310","https://openalex.org/W2113447317","https://openalex.org/W4205434950","https://openalex.org/W3123253234","https://openalex.org/W2111927334","https://openalex.org/W2386766233"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"paper,":[3],"a":[4,27,31,40,109,121,125,151,156],"time":[5,73,88,138],"-":[6,9,13,74,87,93,111,128,139],"varying":[7,75,140],"chattering":[8],"free":[10],"disturbance":[11,126],"observer":[12,113,127],"based":[14,129],"position":[15,131,147],"tracking":[16,132,148],"control":[17,51,133],"law":[18,134],"of":[19,56,67,77,106,153,168],"serial":[20],"robotic":[21,59,79],"manipulators":[22],"is":[23,37,61,82,114,135],"presented":[24,62,115,163],"to":[25,38,48,84,116,144,150,164,173],"track":[26],"reference":[28],"signal":[29],"in":[30,120,155],"finite":[32,86,122,157],"time.":[33,123,158],"The":[34,137],"key":[35],"idea":[36],"employ":[39],"positive-increasing":[41],"function":[42],"associated":[43],"with":[44],"the":[45,50,54,64,68,72,78,91,103,107,118,146,166,169],"control/observer":[46],"objectives":[47],"improve":[49],"performance.":[52],"First,":[53],"model":[55,81],"an":[57],"uncertain":[58],"manipulator":[60,80],"as":[63],"case":[65],"study":[66],"proposed":[69,170],"strategy.":[70],"Then,":[71],"form":[76],"obtained":[83],"provide":[85],"boundedness":[89],"using":[90],"first":[92],"order":[94,112],"sliding":[95],"mode":[96],"method.":[97],"Moreover,":[98],"without":[99],"any":[100],"knowledge":[101],"about":[102],"upper":[104],"bounds":[105],"uncertainties,":[108],"reduced":[110],"estimate":[117],"uncertainties":[119],"Subsequently,":[124],"finite-time":[130],"designed.":[136],"gains":[141],"are":[142,162],"provided":[143],"converge":[145],"error":[149],"neighborhood":[152],"zero":[154],"Finally,":[159],"comparative":[160],"simulations":[161],"show":[165],"effectiveness":[167],"scheme":[171],"compared":[172],"other":[174],"existing":[175],"strategies.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":8}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2022-02-13T00:00:00"}