{"id":"https://openalex.org/W2922558092","doi":"https://doi.org/10.1080/00207179.2019.1598580","title":"Adaptive high order sliding mode controller/observer based terminal sliding mode for MIMO uncertain nonlinear system","display_name":"Adaptive high order sliding mode controller/observer based terminal sliding mode for MIMO uncertain nonlinear system","publication_year":2019,"publication_date":"2019-03-22","ids":{"openalex":"https://openalex.org/W2922558092","doi":"https://doi.org/10.1080/00207179.2019.1598580","mag":"2922558092"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2019.1598580","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1598580","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/A5090174616","display_name":"Rim Hendel","orcid":"https://orcid.org/0000-0002-1569-3087"},"institutions":[{"id":"https://openalex.org/I40193446","display_name":"University Ferhat Abbas of Setif","ror":"https://ror.org/02rzqza52","country_code":"DZ","type":"education","lineage":["https://openalex.org/I40193446"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Rim Hendel","raw_affiliation_strings":["QUERE Laboratory, Engineering Faculty, University of Setif 1, Setif, Algeria","Universit\u00e9 Farhat Abbas S\u00e9tif 1"],"raw_orcid":"https://orcid.org/0000-0002-1569-3087","affiliations":[{"raw_affiliation_string":"QUERE Laboratory, Engineering Faculty, University of Setif 1, Setif, Algeria","institution_ids":["https://openalex.org/I40193446"]},{"raw_affiliation_string":"Universit\u00e9 Farhat Abbas S\u00e9tif 1","institution_ids":["https://openalex.org/I40193446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024192682","display_name":"Farid Khaber","orcid":null},"institutions":[{"id":"https://openalex.org/I40193446","display_name":"University Ferhat Abbas of Setif","ror":"https://ror.org/02rzqza52","country_code":"DZ","type":"education","lineage":["https://openalex.org/I40193446"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Farid Khaber","raw_affiliation_strings":["QUERE Laboratory, Engineering Faculty, University of Setif 1, Setif, Algeria","Universit\u00e9 Ferhat-Abbas S\u00e9tif 1 [S\u00e9tif]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"QUERE Laboratory, Engineering Faculty, University of Setif 1, Setif, Algeria","institution_ids":["https://openalex.org/I40193446"]},{"raw_affiliation_string":"Universit\u00e9 Ferhat-Abbas S\u00e9tif 1 [S\u00e9tif]","institution_ids":["https://openalex.org/I40193446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003801496","display_name":"Najib Essounbouli","orcid":"https://orcid.org/0000-0002-2342-0310"},"institutions":[{"id":"https://openalex.org/I4210100943","display_name":"Centre de Recherche en Sciences et Technologies de l'Information et de la Communication","ror":"https://ror.org/016wdna72","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210100943","https://openalex.org/I4210141980","https://openalex.org/I96226040"]},{"id":"https://openalex.org/I4210118258","display_name":"Centre d'Excellence en Technologies de l'Information et de la Communication","ror":"https://ror.org/02ma6j015","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210118258"]},{"id":"https://openalex.org/I96226040","display_name":"Universit\u00e9 de Reims Champagne-Ardenne","ror":"https://ror.org/03hypw319","country_code":"FR","type":"education","lineage":["https://openalex.org/I96226040"]}],"countries":["BE","FR"],"is_corresponding":false,"raw_author_name":"Najib Essounbouli","raw_affiliation_strings":["CReSTIC of Reims Champagne-Ardenne University, IUT de Troyes, Troyes, France","Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CReSTIC of Reims Champagne-Ardenne University, IUT de Troyes, Troyes, France","institution_ids":["https://openalex.org/I96226040","https://openalex.org/I4210100943"]},{"raw_affiliation_string":"Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804","institution_ids":["https://openalex.org/I4210118258"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5090174616"],"corresponding_institution_ids":["https://openalex.org/I40193446"],"apc_list":null,"apc_paid":null,"fwci":1.6846,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.840734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"94","issue":"2","first_page":"486","last_page":"506"},"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/T10244","display_name":"Chaos control and synchronization","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"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":0.9965000152587891,"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":0.9114201068878174},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6899998188018799},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6405038833618164},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5687012076377869},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5586065649986267},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.5429049134254456},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4741898477077484},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4706743657588959},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4407595694065094},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.43244630098342896},{"id":"https://openalex.org/keywords/separation-principle","display_name":"Separation principle","score":0.4308602511882782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3986503481864929},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12259110808372498},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11330807209014893}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9114201068878174},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6899998188018799},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6405038833618164},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5687012076377869},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5586065649986267},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5429049134254456},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4741898477077484},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4706743657588959},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4407595694065094},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.43244630098342896},{"id":"https://openalex.org/C62431964","wikidata":"https://www.wikidata.org/wiki/Q2271572","display_name":"Separation principle","level":4,"score":0.4308602511882782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3986503481864929},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12259110808372498},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11330807209014893},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207179.2019.1598580","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2019.1598580","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"},{"id":"pmh:oai:HAL:hal-02076383v1","is_oa":false,"landing_page_url":"https://univ-reims.hal.science/hal-02076383","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.tandfonline.com/toc/tcon20/current","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":73,"referenced_works":["https://openalex.org/W747566313","https://openalex.org/W1487127700","https://openalex.org/W1515758311","https://openalex.org/W1537842733","https://openalex.org/W1600451212","https://openalex.org/W1621133376","https://openalex.org/W1968712824","https://openalex.org/W1988367613","https://openalex.org/W1988529963","https://openalex.org/W1996252348","https://openalex.org/W1997732047","https://openalex.org/W1999558720","https://openalex.org/W2001793560","https://openalex.org/W2018851823","https://openalex.org/W2018918594","https://openalex.org/W2020575620","https://openalex.org/W2023233398","https://openalex.org/W2028436424","https://openalex.org/W2030959268","https://openalex.org/W2031137974","https://openalex.org/W2031945217","https://openalex.org/W2032198200","https://openalex.org/W2039793507","https://openalex.org/W2069073897","https://openalex.org/W2079325629","https://openalex.org/W2080117869","https://openalex.org/W2080648705","https://openalex.org/W2091198516","https://openalex.org/W2105234323","https://openalex.org/W2110702780","https://openalex.org/W2113400092","https://openalex.org/W2119936308","https://openalex.org/W2134069001","https://openalex.org/W2146097309","https://openalex.org/W2146635369","https://openalex.org/W2154892481","https://openalex.org/W2160051270","https://openalex.org/W2166623127","https://openalex.org/W2169567139","https://openalex.org/W2208608249","https://openalex.org/W2272053124","https://openalex.org/W2275947424","https://openalex.org/W2342608141","https://openalex.org/W2343067029","https://openalex.org/W2343218201","https://openalex.org/W2404468522","https://openalex.org/W2416522837","https://openalex.org/W2420367108","https://openalex.org/W2423995858","https://openalex.org/W2470826544","https://openalex.org/W2484229617","https://openalex.org/W2507795633","https://openalex.org/W2515111892","https://openalex.org/W2540663868","https://openalex.org/W2548295960","https://openalex.org/W2560067329","https://openalex.org/W2563369907","https://openalex.org/W2593843552","https://openalex.org/W2598390074","https://openalex.org/W2604024435","https://openalex.org/W2609704853","https://openalex.org/W2616315826","https://openalex.org/W2781472542","https://openalex.org/W2789941596","https://openalex.org/W2792338883","https://openalex.org/W2793192226","https://openalex.org/W2802726623","https://openalex.org/W2892953699","https://openalex.org/W2917331433","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W4293078920","https://openalex.org/W6683360777"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W4214925198","https://openalex.org/W1995636945","https://openalex.org/W2404840993","https://openalex.org/W2088371781","https://openalex.org/W1788310316"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3],"adaptive":[4,101],"super":[5,72],"twisting":[6,73],"high":[7],"order":[8,51,91],"sliding":[9,52,92],"mode":[10,53],"controller":[11,77,95],"observer":[12,58,128],"is":[13,37,59,130],"investigated":[14],"for":[15,140],"multi":[16],"input\u2013multi":[17],"output":[18],"uncertain":[19],"system,":[20],"with":[21,49],"application":[22],"to":[23,39,61],"robotic":[24],"manipulator":[25,144],"based":[26,70,99],"only":[27],"on":[28,71,100],"position":[29],"measurement.":[30],"First,":[31],"a":[32,55,79],"type-2":[33],"Takagi\u2013Sugeno":[34],"fuzzy":[35,57],"system":[36],"used":[38],"model":[40,48],"the":[41,64,75,85,106,111,115,136,146,149],"original":[42],"system.":[43],"Next,":[44],"by":[45],"combining":[46],"thefuzzy":[47],"third":[50],"observer,":[54],"novel":[56],"designed":[60],"estimate":[62],"both":[63],"joint":[65],"velocities":[66],"and":[67,83,110],"uncertainties.":[68],"Moreover,":[69],"algorithm":[74],"proposed":[76,126,150],"generates":[78],"smooth":[80],"control":[81],"signal":[82],"guarantees":[84],"finite":[86],"time":[87],"stabilisation":[88],"of":[89,114,118,125,148],"second":[90],"mode.":[93],"The":[94,123],"gains":[96,107],"are":[97],"generated":[98],"estimation":[102],"scheme,":[103],"in":[104],"which":[105],"overestimation":[108],"problem":[109],"prior":[112],"knowledge":[113],"upper":[116],"boundaries":[117],"uncertainties":[119],"can":[120],"be":[121],"avoided.":[122],"stability":[124],"controller/":[127],"scheme":[129],"discussed":[131],"using":[132],"Lyapunov":[133],"approach.":[134],"Finally,":[135],"obtained":[137],"simulation":[138],"results":[139],"two":[141],"link":[142],"robot":[143],"demonstrate":[145],"effectiveness":[147],"controller.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}