{"id":"https://openalex.org/W2338460402","doi":"https://doi.org/10.1080/00207721.2016.1173742","title":"Model-independent position domain sliding mode control for contour tracking of robotic manipulator","display_name":"Model-independent position domain sliding mode control for contour tracking of robotic manipulator","publication_year":2016,"publication_date":"2016-04-15","ids":{"openalex":"https://openalex.org/W2338460402","doi":"https://doi.org/10.1080/00207721.2016.1173742","mag":"2338460402"},"language":"en","primary_location":{"id":"doi:10.1080/00207721.2016.1173742","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2016.1173742","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"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 Systems Science","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/A5112228780","display_name":"W. H. Yue","orcid":"https://orcid.org/0009-0008-7019-6033"},"institutions":[{"id":"https://openalex.org/I121296143","display_name":"Hunan University of Science and Technology","ror":"https://ror.org/02m9vrb24","country_code":"CN","type":"education","lineage":["https://openalex.org/I121296143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"W. H. Yue","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China","institution_ids":["https://openalex.org/I121296143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078103989","display_name":"V. Pano","orcid":null},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"V. Pano","raw_affiliation_strings":["Department of Aerospace Engineering, Ryerson University, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050456656","display_name":"P. R. Ouyang","orcid":"https://orcid.org/0000-0002-3623-5288"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]},{"id":"https://openalex.org/I121296143","display_name":"Hunan University of Science and Technology","ror":"https://ror.org/02m9vrb24","country_code":"CN","type":"education","lineage":["https://openalex.org/I121296143"]}],"countries":["CA","CN"],"is_corresponding":true,"raw_author_name":"P. R. Ouyang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China; Department of Aerospace Engineering, Ryerson University, Toronto, Canada","Department of Aerospace Engineering, Ryerson University, Toronto, Canada","College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China; Department of Aerospace Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I121296143","https://openalex.org/I530967"]},{"raw_affiliation_string":"Department of Aerospace Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China","institution_ids":["https://openalex.org/I121296143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069201145","display_name":"Yuqi Hu","orcid":"https://orcid.org/0000-0003-3505-2970"},"institutions":[{"id":"https://openalex.org/I121296143","display_name":"Hunan University of Science and Technology","ror":"https://ror.org/02m9vrb24","country_code":"CN","type":"education","lineage":["https://openalex.org/I121296143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Y. Q. Hu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, China","institution_ids":["https://openalex.org/I121296143"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050456656"],"corresponding_institution_ids":["https://openalex.org/I121296143","https://openalex.org/I530967"],"apc_list":null,"apc_paid":null,"fwci":3.1577,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.91748686,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"48","issue":"1","first_page":"190","last_page":"199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control 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/T11749","display_name":"Iterative Learning Control 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/T13644","display_name":"Control Systems in Engineering","score":0.9987999796867371,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9959999918937683,"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":0.8090701103210449},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6722682118415833},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6662445068359375},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6266631484031677},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.52522873878479},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5063949823379517},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4987940788269043},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4752516448497772},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.457955002784729},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44765129685401917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42266565561294556},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.398425430059433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3083869218826294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.249930739402771}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8090701103210449},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6722682118415833},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6662445068359375},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6266631484031677},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.52522873878479},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5063949823379517},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4987940788269043},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4752516448497772},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.457955002784729},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44765129685401917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42266565561294556},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.398425430059433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3083869218826294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.249930739402771},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207721.2016.1173742","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2016.1173742","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"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 Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:taf:tsysxx:v:48:y:2017:i:1:p:190-199","is_oa":false,"landing_page_url":"http://hdl.handle.net/10.1080/00207721.2016.1173742","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W313234848","https://openalex.org/W1487127700","https://openalex.org/W1521530529","https://openalex.org/W1540324711","https://openalex.org/W1985196033","https://openalex.org/W1990042683","https://openalex.org/W1990777642","https://openalex.org/W1992336075","https://openalex.org/W1996263318","https://openalex.org/W2022688368","https://openalex.org/W2026124552","https://openalex.org/W2032278511","https://openalex.org/W2050068573","https://openalex.org/W2062691475","https://openalex.org/W2080026597","https://openalex.org/W2084828843","https://openalex.org/W2092963446","https://openalex.org/W2107308889","https://openalex.org/W2107469063","https://openalex.org/W2108314056","https://openalex.org/W2117131289","https://openalex.org/W2139267874","https://openalex.org/W2149327659","https://openalex.org/W2158970259","https://openalex.org/W2165686770","https://openalex.org/W2166394531"],"related_works":["https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W2166459078","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2306349892","https://openalex.org/W2274682661","https://openalex.org/W897560829","https://openalex.org/W2375807149","https://openalex.org/W2786766270"],"abstract_inverted_index":{"In":[0,110],"this":[1],"paper,":[2],"a":[3,57],"new":[4,61],"position":[5,77],"domain":[6,78],"feedback":[7,76],"type":[8,75],"sliding":[9],"mode":[10],"control":[11,19,41,46,62,79,108,115],"(PDC-SMC)":[12],"law":[13,42,63],"is":[14,43,88],"proposed":[15,40],"for":[16],"contour":[17,33,70],"tracking":[18,34,71],"of":[20,23,32,38,52,67,73,84,104,114,117],"multi-DOF":[21],"(degree":[22],"freedom)":[24],"nonlinear":[25],"robotic":[26],"manipulators":[27],"focusing":[28],"on":[29,120],"the":[30,39,53,65,68,82,91,102,105,112,118],"improvement":[31],"performances.":[35],"One":[36],"feature":[37],"its":[44],"model-independent":[45],"scheme":[47],"that":[48],"can":[49],"avoid":[50],"calculation":[51],"feedforward":[54],"part":[55],"in":[56],"standard":[58],"SMC.":[59,85],"The":[60],"takes":[64],"advantages":[66],"high":[69],"performance":[72],"PD":[74],"(PDC)":[80],"and":[81,95],"robustness":[83],"Stability":[86],"analysis":[87],"performed":[89],"using":[90],"Lyapunov":[92],"stability":[93],"theory,":[94],"simulation":[96],"studies":[97],"are":[98,123],"conducted":[99],"to":[100],"verify":[101],"effectiveness":[103],"developed":[106],"PDC-SMC":[107],"system.":[109],"addition,":[111],"effects":[113],"parameters":[116],"SMC":[119],"system":[121],"performances":[122],"studied.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}