{"id":"https://openalex.org/W4417528470","doi":"https://doi.org/10.1080/00207179.2025.2606248","title":"Neural network-enhanced nonsingular fast terminal sliding mode control for pipe crack sealing manipulator","display_name":"Neural network-enhanced nonsingular fast terminal sliding mode control for pipe crack sealing manipulator","publication_year":2025,"publication_date":"2025-12-20","ids":{"openalex":"https://openalex.org/W4417528470","doi":"https://doi.org/10.1080/00207179.2025.2606248"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2025.2606248","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2025.2606248","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","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"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/A5101533157","display_name":"Santosh Kumar","orcid":"https://orcid.org/0000-0002-7082-6620"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Santosh Kumar","raw_affiliation_strings":["IIT Guwahati","Mechanical Engineering Department, IIT Guwahati, Guwahati, India"],"raw_orcid":"https://orcid.org/0000-0002-7082-6620","affiliations":[{"raw_affiliation_string":"IIT Guwahati","institution_ids":["https://openalex.org/I1317621060"]},{"raw_affiliation_string":"Mechanical Engineering Department, IIT Guwahati, Guwahati, India","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063410145","display_name":"Santosha K. Dwivedy","orcid":"https://orcid.org/0000-0001-6534-8989"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S. K. Dwivedy","raw_affiliation_strings":["IIT Guwahati","Mechanical Engineering Department, IIT Guwahati, Guwahati, India"],"raw_orcid":"https://orcid.org/0000-0001-6534-8989","affiliations":[{"raw_affiliation_string":"IIT Guwahati","institution_ids":["https://openalex.org/I1317621060"]},{"raw_affiliation_string":"Mechanical Engineering Department, IIT Guwahati, Guwahati, India","institution_ids":["https://openalex.org/I1317621060"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101533157"],"corresponding_institution_ids":["https://openalex.org/I1317621060"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32983656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"99","issue":"6","first_page":"1663","last_page":"1682"},"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":0.27869999408721924,"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":0.27869999408721924,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.27469998598098755,"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"}},{"id":"https://openalex.org/T10534","display_name":"Structural Health Monitoring Techniques","score":0.03420000150799751,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.7063000202178955},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.5077999830245972},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4968999922275543},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4675999879837036},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44620001316070557},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.44130000472068787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39079999923706055}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7063000202178955},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.5077999830245972},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4968999922275543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4869000017642975},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4675999879837036},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44620001316070557},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.44130000472068787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39079999923706055},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.3555000126361847},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34619998931884766},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34389999508857727},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.3425999879837036},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3140999972820282},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.30329999327659607},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2957000136375427},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2922999858856201},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28690001368522644},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2833000123500824},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26089999079704285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207179.2025.2606248","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2025.2606248","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","https://openalex.org/P4310320449"],"host_organization_lineage_names":["Taylor & Francis","Informa"],"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":[],"awards":[{"id":"https://openalex.org/G2181912771","display_name":null,"funder_award_id":"DST /NMICPS/TIH12/ IITG /2020","funder_id":"https://openalex.org/F4320320719","funder_display_name":"Department of Science and Technology, Ministry of Science and Technology, India"}],"funders":[{"id":"https://openalex.org/F4320320719","display_name":"Department of Science and Technology, Ministry of Science and Technology, India","ror":"https://ror.org/0101xrq71"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1965779316","https://openalex.org/W2030379334","https://openalex.org/W2081137779","https://openalex.org/W2120586752","https://openalex.org/W2127617835","https://openalex.org/W2129884504","https://openalex.org/W2542475276","https://openalex.org/W2559135426","https://openalex.org/W2587975547","https://openalex.org/W2758637927","https://openalex.org/W2777236161","https://openalex.org/W2790841337","https://openalex.org/W2797284906","https://openalex.org/W2799848853","https://openalex.org/W2801021627","https://openalex.org/W2806610605","https://openalex.org/W2913988572","https://openalex.org/W2944758627","https://openalex.org/W2963949505","https://openalex.org/W2996129221","https://openalex.org/W3010789021","https://openalex.org/W3034678445","https://openalex.org/W3124838546","https://openalex.org/W4205965688","https://openalex.org/W4207070869","https://openalex.org/W4213085465","https://openalex.org/W4226422927","https://openalex.org/W4229076478","https://openalex.org/W4309476297","https://openalex.org/W4311508572","https://openalex.org/W4317714080","https://openalex.org/W4387424097","https://openalex.org/W4388759388","https://openalex.org/W4389503541","https://openalex.org/W4390278498","https://openalex.org/W4391468473","https://openalex.org/W4393145445","https://openalex.org/W4403157247","https://openalex.org/W4403304175","https://openalex.org/W4403707656","https://openalex.org/W4404031964","https://openalex.org/W4404133095","https://openalex.org/W4405115869","https://openalex.org/W4409123899","https://openalex.org/W4412430986"],"related_works":[],"abstract_inverted_index":{"This":[0],"study":[1,82],"addresses":[2],"the":[3,8,53,57,89,93,156,159,162,203,208,213],"control":[4,126,136,139,176,183,190,199],"challenges":[5],"associated":[6],"with":[7,28,56,173],"pipe":[9,46],"crack":[10,59,101,104],"sealing":[11,19],"manipulator":[12],"(PCSM),":[13],"a":[14,125,167],"tree-shaped":[15],"robot":[16],"modelled":[17],"for":[18,33,108,151],"cracks":[20],"within":[21],"concrete":[22],"pipes.":[23],"The":[24,66,80,138],"PCSM":[25,94,214],"is":[26,165],"equipped":[27],"five":[29],"specialised":[30],"branches,":[31],"designed":[32],"multifunctional":[34],"crack-sealing":[35],"operations":[36],"and":[37,44,60,85,117,154,192,210,222],"demonstrates":[38,201],"versatility":[39],"in":[40,64,83,98,155,215],"navigating":[41],"both":[42],"vertical":[43],"horizontal":[45],"environments.":[47],"A":[48,170],"comprehensive":[49],"CAD":[50],"model":[51,70],"of":[52,92,161,212],"PCSM,":[54],"along":[55],"targeted":[58],"pipe,":[61],"was":[62,71,95],"developed":[63],"SolidWorks.":[65],"data":[67],"from":[68],"this":[69,122],"meticulously":[72],"exported":[73],"to":[74,76,115],"Simulink":[75],"facilitate":[77],"precise":[78],"control.":[79],"simulation":[81],"SolidWorks":[84],"observations":[86],"identified":[87],"that":[88,147,202],"fifth":[90],"branch":[91],"predominantly":[96],"successful":[97],"executing":[99],"extensive":[100],"repairs.":[102],"Tracing":[103],"trajectories":[105],"accurately,":[106],"crucial":[107],"effective":[109],"sealing,":[110],"becomes":[111],"increasingly":[112],"challenging":[113],"due":[114],"disturbances":[116,221],"uncertain":[118,216,223],"dynamics.":[119,224],"In":[120],"response,":[121],"work":[123],"implements":[124],"strategy":[127],"termed":[128],"neural":[129,149,181],"network-enhanced":[130],"nonsingular":[131,185,194],"fast":[132,186,195],"terminal":[133,187,196],"sliding":[134,174,188,197],"mode":[135,175,189,198],"(NENFTSMC).":[137],"input":[140],"comprises":[141],"two":[142],"components:":[143],"an":[144],"equivalent":[145],"part":[146],"utilises":[148],"networks":[150],"dynamic":[152],"estimation":[153],"switching":[157],"part,":[158],"value":[160],"mass":[163],"matrix":[164],"considered":[166],"lumped":[168],"value.":[169],"comparative":[171],"analysis":[172],"(SMC),":[177],"radial":[178],"basis":[179],"function":[180],"network":[182],"(RBFNNC),":[184],"(NFTSMC)":[191],"adaptive":[193],"(ANFTSMC)":[200],"proposed":[204],"method":[205],"significantly":[206],"enhances":[207],"reliability":[209],"effectiveness":[211],"environments":[217],"characterised":[218],"by":[219],"random":[220]},"counts_by_year":[],"updated_date":"2026-08-15T07:11:24.734988","created_date":"2025-12-20T00:00:00"}
