{"id":"https://openalex.org/W2378870844","doi":"https://doi.org/10.1017/s0263574716000278","title":"Wavelet neural network-based H\u221etrajectory tracking for robot manipulators using fast terminal sliding mode control","display_name":"Wavelet neural network-based H\u221etrajectory tracking for robot manipulators using fast terminal sliding mode control","publication_year":2016,"publication_date":"2016-05-13","ids":{"openalex":"https://openalex.org/W2378870844","doi":"https://doi.org/10.1017/s0263574716000278","mag":"2378870844"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574716000278","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574716000278","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/A5025782431","display_name":"Vikas Panwar","orcid":"https://orcid.org/0000-0001-5874-2945"},"institutions":[{"id":"https://openalex.org/I72769676","display_name":"Gautam Buddha University","ror":"https://ror.org/026cfwd52","country_code":"IN","type":"education","lineage":["https://openalex.org/I72769676"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Vikas Panwar","raw_affiliation_strings":["School of Vocational Studies and Applied Sciences, Gautam Buddha University, Greater Noida - 201310, Uttar Pradesh, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vocational Studies and Applied Sciences, Gautam Buddha University, Greater Noida - 201310, Uttar Pradesh, India","institution_ids":["https://openalex.org/I72769676"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5025782431"],"corresponding_institution_ids":["https://openalex.org/I72769676"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":1.5817,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.83883364,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"7","first_page":"1488","last_page":"1503"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T13644","display_name":"Control Systems in Engineering","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7704586982727051},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7011728286743164},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6736027598381042},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.6247910857200623},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5973865389823914},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5867998600006104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5733716487884521},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5619128942489624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46517038345336914},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4602263569831848},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.453539103269577},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.4298427700996399},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2888912856578827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23946639895439148},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1693657636642456},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0941709578037262},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06413385272026062}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7704586982727051},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7011728286743164},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6736027598381042},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.6247910857200623},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5973865389823914},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5867998600006104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5733716487884521},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5619128942489624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46517038345336914},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4602263569831848},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.453539103269577},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.4298427700996399},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2888912856578827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23946639895439148},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1693657636642456},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0941709578037262},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06413385272026062},{"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},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574716000278","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574716000278","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":50,"referenced_works":["https://openalex.org/W1479724460","https://openalex.org/W1487127700","https://openalex.org/W1517236425","https://openalex.org/W1823553355","https://openalex.org/W1965300492","https://openalex.org/W1968315580","https://openalex.org/W1988242845","https://openalex.org/W1988367613","https://openalex.org/W1988837728","https://openalex.org/W1992948480","https://openalex.org/W1994958900","https://openalex.org/W2003828266","https://openalex.org/W2003881771","https://openalex.org/W2006447203","https://openalex.org/W2007382932","https://openalex.org/W2029700848","https://openalex.org/W2042106612","https://openalex.org/W2056220954","https://openalex.org/W2067121606","https://openalex.org/W2078736691","https://openalex.org/W2087383031","https://openalex.org/W2089042239","https://openalex.org/W2098212678","https://openalex.org/W2098386213","https://openalex.org/W2098646051","https://openalex.org/W2106336670","https://openalex.org/W2106693130","https://openalex.org/W2110702780","https://openalex.org/W2113350382","https://openalex.org/W2113382188","https://openalex.org/W2119111584","https://openalex.org/W2120154518","https://openalex.org/W2129275525","https://openalex.org/W2129518264","https://openalex.org/W2137571647","https://openalex.org/W2137653721","https://openalex.org/W2142402591","https://openalex.org/W2145571721","https://openalex.org/W2146401115","https://openalex.org/W2153887472","https://openalex.org/W2154132823","https://openalex.org/W2157113526","https://openalex.org/W2160142892","https://openalex.org/W2161962818","https://openalex.org/W2166783325","https://openalex.org/W2293747114","https://openalex.org/W2562706957","https://openalex.org/W2610857016","https://openalex.org/W6677741879","https://openalex.org/W6682545871"],"related_works":["https://openalex.org/W2507513082","https://openalex.org/W1823313497","https://openalex.org/W2619543956","https://openalex.org/W2013908262","https://openalex.org/W2559858262","https://openalex.org/W2746785829","https://openalex.org/W2110936316","https://openalex.org/W4206718122","https://openalex.org/W4220777529","https://openalex.org/W2994689514"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"focuses":[3],"on":[4,150],"fast":[5],"terminal":[6],"sliding":[7,53,68],"mode":[8],"control":[9],"(FTSMC)":[10],"of":[11,35,75,108,158],"robot":[12,79,89],"manipulators":[13],"using":[14,101],"wavelet":[15],"neural":[16],"networks":[17],"(WNN)":[18],"with":[19,72,133],"guaranteed":[20,134],"H\u221etracking":[21,115,135],"performance.":[22],"The":[23,47,91],"FTSMC":[24],"for":[25,95,141],"trajectory":[26,142],"tracking":[27,33,48],"is":[28,83,117,120,126],"employed":[29],"to":[30,38,40,61,85,111,128,154],"drive":[31],"the":[32,36,52,67,73,88,96,106,123,130,145,156,159],"error":[34,49],"system":[37,131],"converge":[39],"an":[41],"equilibrium":[42],"point":[43],"in":[44,55,63],"finite":[45,56,64,138],"time.":[46],"arrives":[50],"at":[51],"surface":[54],"time":[57,65,139],"and":[58,77,137],"then":[59],"converges":[60],"zero":[62],"along":[66],"surface.":[69],"To":[70,104],"deal":[71],"case":[74],"uncertain":[76],"unknown":[78],"dynamics,":[80],"a":[81,112,151],"WNN":[82,97,125],"proposed":[84,124],"fully":[86],"compensate":[87],"dynamics.":[90],"online":[92],"tuning":[93],"algorithms":[94],"parameters":[98],"are":[99,148],"derived":[100],"Lyapunov":[102],"approach.":[103],"attenuate":[105],"effect":[107],"approximation":[109],"errors":[110],"prescribed":[113],"level,":[114],"performance":[116,136],"proposed.":[118],"It":[119],"shown":[121],"that":[122],"able":[127],"learn":[129],"dynamics":[132],"convergence":[140],"tracking.":[143],"Finally,":[144],"simulation":[146],"results":[147],"performed":[149],"3D-Microbot":[152],"manipulator":[153],"show":[155],"effectiveness":[157],"controller.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
