{"id":"https://openalex.org/W2010466391","doi":"https://doi.org/10.1017/s0263574701003629","title":"Sliding mode control with perturbation estimation: application on DD robot mechanism","display_name":"Sliding mode control with perturbation estimation: application on DD robot mechanism","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W2010466391","doi":"https://doi.org/10.1017/s0263574701003629","mag":"2010466391"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574701003629","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574701003629","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"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/A5044125373","display_name":"Boris Curk","orcid":null},"institutions":[{"id":"https://openalex.org/I37696226","display_name":"University of Maribor","ror":"https://ror.org/01d5jce07","country_code":"SI","type":"education","lineage":["https://openalex.org/I37696226"]}],"countries":["SI"],"is_corresponding":true,"raw_author_name":"Boris Curk","raw_affiliation_strings":["University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia","University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia) karel.jezernik@uni-mb.si#TAB#"],"affiliations":[{"raw_affiliation_string":"University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia","institution_ids":["https://openalex.org/I37696226"]},{"raw_affiliation_string":"University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia) karel.jezernik@uni-mb.si#TAB#","institution_ids":["https://openalex.org/I37696226"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109062732","display_name":"Karel Jezernik","orcid":null},"institutions":[{"id":"https://openalex.org/I37696226","display_name":"University of Maribor","ror":"https://ror.org/01d5jce07","country_code":"SI","type":"education","lineage":["https://openalex.org/I37696226"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Karel Jezernik","raw_affiliation_strings":["University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia","University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia) karel.jezernik@uni-mb.si#TAB#"],"affiliations":[{"raw_affiliation_string":"University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia","institution_ids":["https://openalex.org/I37696226"]},{"raw_affiliation_string":"University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, 2000 Maribor (Slovenia) karel.jezernik@uni-mb.si#TAB#","institution_ids":["https://openalex.org/I37696226"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044125373"],"corresponding_institution_ids":["https://openalex.org/I37696226"],"apc_list":null,"apc_paid":null,"fwci":2.2473,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.87970577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"19","issue":"6","first_page":"641","last_page":"648"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9972000122070312,"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":0.9961000084877014,"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":0.8620491027832031},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.6342698931694031},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5841073989868164},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5806281566619873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5445596575737},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5330634713172913},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5152997970581055},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.5123604536056519},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29824602603912354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27427661418914795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18326178193092346},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1651460826396942},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0877792239189148}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8620491027832031},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.6342698931694031},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5841073989868164},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5806281566619873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5445596575737},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5330634713172913},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5152997970581055},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.5123604536056519},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29824602603912354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27427661418914795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18326178193092346},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1651460826396942},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0877792239189148},{"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:10.1017/s0263574701003629","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574701003629","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1497280145","https://openalex.org/W1516289514","https://openalex.org/W1547986890","https://openalex.org/W2042164007","https://openalex.org/W2043332721","https://openalex.org/W2108990573","https://openalex.org/W2121405821","https://openalex.org/W2132956152","https://openalex.org/W2137721951","https://openalex.org/W2150751837","https://openalex.org/W2157918371","https://openalex.org/W2725302952"],"related_works":["https://openalex.org/W2329500892","https://openalex.org/W28991112","https://openalex.org/W2370726991","https://openalex.org/W2369710579","https://openalex.org/W4327728159","https://openalex.org/W2545348020","https://openalex.org/W2380516047","https://openalex.org/W2007221537","https://openalex.org/W2130893381","https://openalex.org/W2996124973"],"abstract_inverted_index":{"In":[0],"this":[1,84],"work":[2],"another":[3],"perturbation":[4,76],"estimation":[5,77],"sliding":[6],"mode":[7],"based":[8],"control":[9,50,55,59],"algorithm":[10],"is":[11,52,67,78,86,101],"introduced":[12],"for":[13],"a":[14,38,63,94,104],"class":[15],"of":[16,22,32,71,83],"robotic":[17],"systems":[18],"in":[19,54],"the":[20,46,72,88],"presence":[21],"structured":[23],"and":[24,27],"unstructured":[25],"uncertainties":[26,34],"external":[28],"disturbances.":[29],"The":[30,57,80,98],"effects":[31],"these":[33],"are":[35,90],"combined":[36],"into":[37],"single":[39],"quantity.":[40],"A":[41,69],"full":[42],"order":[43],"device":[44],"with":[45,61,75],"actuator":[47],"voltages":[48],"as":[49],"inputs":[51],"assumed":[53],"design.":[56],"decentralized":[58],"scheme":[60],"only":[62],"partial":[64],"state":[65],"feedback":[66],"applied.":[68],"modification":[70],"switching":[73],"functions":[74],"introduced.":[79],"salient":[81],"features":[82],"approach":[85],"that":[87],"perturbations":[89],"effectively":[91],"treated":[92],"by":[93],"computationally":[95],"straightforward":[96],"procedure.":[97],"proposed":[99],"controller":[100],"applied":[102],"to":[103],"minimal":[105],"configuration":[106],"direct":[107],"drive":[108],"robot":[109],"mechanism.":[110]},"counts_by_year":[{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}