{"id":"https://openalex.org/W2106326868","doi":"https://doi.org/10.1080/00207170701383806","title":"A coupled-sliding-surface approach for the robust trajectory control of a horizontal two-link rigid/flexible robot","display_name":"A coupled-sliding-surface approach for the robust trajectory control of a horizontal two-link rigid/flexible robot","publication_year":2007,"publication_date":"2007-10-30","ids":{"openalex":"https://openalex.org/W2106326868","doi":"https://doi.org/10.1080/00207170701383806","mag":"2106326868"},"language":"en","primary_location":{"id":"doi:10.1080/00207170701383806","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207170701383806","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","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/A5022354993","display_name":"He-Hoon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I197173980","display_name":"Southeastern Louisiana University","ror":"https://ror.org/0531xck41","country_code":"US","type":"education","lineage":["https://openalex.org/I197173980","https://openalex.org/I2799628689"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H.-H. Lee","raw_affiliation_strings":["Southeastern Louisiana University , Hammond , Louisiana 70402, USA","Southeastern Louisiana University, Hammond, Louisiana, 70402 (USA)"],"affiliations":[{"raw_affiliation_string":"Southeastern Louisiana University , Hammond , Louisiana 70402, USA","institution_ids":["https://openalex.org/I197173980"]},{"raw_affiliation_string":"Southeastern Louisiana University, Hammond, Louisiana, 70402 (USA)","institution_ids":["https://openalex.org/I197173980"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104355256","display_name":"Yan Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I197173980","display_name":"Southeastern Louisiana University","ror":"https://ror.org/0531xck41","country_code":"US","type":"education","lineage":["https://openalex.org/I197173980","https://openalex.org/I2799628689"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Y. Liang","raw_affiliation_strings":["Southeastern Louisiana University , Hammond , Louisiana 70402, USA","Southeastern Louisiana University, Hammond, Louisiana, 70402 (USA)"],"affiliations":[{"raw_affiliation_string":"Southeastern Louisiana University , Hammond , Louisiana 70402, USA","institution_ids":["https://openalex.org/I197173980"]},{"raw_affiliation_string":"Southeastern Louisiana University, Hammond, Louisiana, 70402 (USA)","institution_ids":["https://openalex.org/I197173980"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022354993"],"corresponding_institution_ids":["https://openalex.org/I197173980"],"apc_list":null,"apc_paid":null,"fwci":1.7418,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.87957389,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"80","issue":"12","first_page":"1880","last_page":"1892"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical 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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9896000027656555,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9817000031471252,"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":0.8215151429176331},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6717185378074646},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5392827391624451},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5173149108886719},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46174365282058716},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.45945578813552856},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4271712899208069},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4230971932411194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4154372215270996},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41452455520629883},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3484117090702057},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.26367253065109253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20268306136131287},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1843227744102478},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1657876968383789},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10535767674446106}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8215151429176331},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6717185378074646},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5392827391624451},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5173149108886719},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46174365282058716},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45945578813552856},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4271712899208069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4230971932411194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4154372215270996},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41452455520629883},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3484117090702057},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26367253065109253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20268306136131287},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1843227744102478},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1657876968383789},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10535767674446106},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207170701383806","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207170701383806","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1523614190","https://openalex.org/W1580625875","https://openalex.org/W1967645989","https://openalex.org/W1973927066","https://openalex.org/W1974802814","https://openalex.org/W2033668957","https://openalex.org/W2036777541","https://openalex.org/W2037036466","https://openalex.org/W2046266178","https://openalex.org/W2082489432","https://openalex.org/W2092509622","https://openalex.org/W2100861624","https://openalex.org/W2101041759","https://openalex.org/W2103610162","https://openalex.org/W2115278279","https://openalex.org/W2134207938","https://openalex.org/W2148343052","https://openalex.org/W2150549237","https://openalex.org/W2151311642","https://openalex.org/W2158816863","https://openalex.org/W2159250609","https://openalex.org/W2161602006","https://openalex.org/W2167339603","https://openalex.org/W4248699599"],"related_works":["https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1934622834","https://openalex.org/W1972862722","https://openalex.org/W2372856383","https://openalex.org/W2281732014","https://openalex.org/W2015036175","https://openalex.org/W2063351494","https://openalex.org/W2319803529","https://openalex.org/W1562326332"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,10,26,35,47,80,87],"new":[4,48],"robust":[5],"trajectory":[6,49,118],"control":[7,50,85,89,112,119,130,158],"scheme":[8,51,66],"for":[9],"two-link":[11],"rigid/flexible":[12],"robot.":[13],"First,":[14],"the":[15,19,43,56,73,93,101,110,116,128,138],"energy":[16,44],"dynamics":[17],"of":[18,140],"flexible":[20],"link":[21],"is":[22,39,52,77,86,98],"derived":[23],"based":[24,41,54,91],"on":[25,42,55,92],"distributed-parameter":[27,94],"dynamic":[28,95],"model":[29,96],"(a":[30],"partial":[31],"differential":[32],"equation).":[33],"Second,":[34],"coupled":[36,57],"sliding":[37,58],"surface":[38],"defined":[40],"dynamics.":[45],"Third,":[46],"designed":[53,90],"surface,":[59],"and":[60,97,120],"then":[61],"extended":[62],"to":[63,67,144],"an":[64],"adaptive":[65],"cope":[68],"with":[69],"parametric":[70],"uncertainties,":[71],"where":[72],"Lyapunov":[74],"stability":[75,114,122],"theorem":[76],"used":[78],"as":[79],"mathematical":[81],"tool.":[82],"The":[83,150],"proposed":[84,111,129],"collocated":[88],"free":[99],"from":[100],"so-called":[102],"spillover":[103],"instability.":[104],"Using":[105],"only":[106],"two":[107],"joint":[108],"actuators,":[109],"guarantees":[113,131],"throughout":[115],"entire":[117],"asymptotic":[121],"at":[123],"desired":[124],"goal":[125],"positions.":[126],"Furthermore,":[127],"zero":[132],"steady-state":[133],"joint-tracking":[134],"errors":[135],"even":[136],"in":[137,148],"presence":[139],"low-frequency":[141],"disturbances":[142],"due":[143],"unavoidable":[145],"mechanical":[146],"inaccuracies":[147],"application.":[149],"theoretical":[151],"results":[152],"have":[153],"also":[154],"been":[155],"proven":[156],"by":[157],"experiments.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}