{"id":"https://openalex.org/W3080487503","doi":"https://doi.org/10.1080/00207721.2020.1808732","title":"Adaptive PID-fractional-order nonsingular terminal sliding mode control for cable-driven manipulators using time-delay estimation","display_name":"Adaptive PID-fractional-order nonsingular terminal sliding mode control for cable-driven manipulators using time-delay estimation","publication_year":2020,"publication_date":"2020-08-25","ids":{"openalex":"https://openalex.org/W3080487503","doi":"https://doi.org/10.1080/00207721.2020.1808732","mag":"3080487503"},"language":"en","primary_location":{"id":"doi:10.1080/00207721.2020.1808732","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2020.1808732","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/A5063342415","display_name":"Yaoyao Wang","orcid":"https://orcid.org/0000-0001-5237-378X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yaoyao Wang","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101803193","display_name":"Jiawei Peng","orcid":"https://orcid.org/0000-0002-1608-3280"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Peng","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100844771","display_name":"Kangwu Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153230","display_name":"Shanghai Academy of Spaceflight Technology","ror":"https://ror.org/050qhwt21","country_code":"CN","type":"government","lineage":["https://openalex.org/I2802615301","https://openalex.org/I4210153230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kangwu Zhu","raw_affiliation_strings":["Shanghai Institute of Spaceflight Control Technology, Shanghai, People\u2019s Republic of China","Shanghai Institute of Spaceflight Control Technology, Shanghai, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"Shanghai Institute of Spaceflight Control Technology, Shanghai, People\u2019s Republic of China","institution_ids":["https://openalex.org/I4210153230"]},{"raw_affiliation_string":"Shanghai Institute of Spaceflight Control Technology, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I4210153230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662674","display_name":"Bai Chen","orcid":"https://orcid.org/0000-0001-8290-8626"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Chen","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102983071","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-3885-930X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People\u2019s Republic of China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063342415"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":2.0777,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.86962524,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"51","issue":"15","first_page":"3118","last_page":"3133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987999796867371,"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":0.9987999796867371,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9966999888420105,"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":0.9922000169754028,"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/pid-controller","display_name":"PID controller","score":0.8987399339675903},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8762198090553284},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5665872097015381},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4137725234031677},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30214571952819824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28509995341300964},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21498146653175354},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.0904010534286499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07147789001464844}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8987399339675903},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8762198090553284},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5665872097015381},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4137725234031677},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30214571952819824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28509995341300964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21498146653175354},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0904010534286499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07147789001464844},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207721.2020.1808732","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207721.2020.1808732","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:51:y:2020:i:15:p:3118-3133","is_oa":false,"landing_page_url":"http://hdl.handle.net/10.1080/00207721.2020.1808732","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7699999809265137}],"awards":[{"id":"https://openalex.org/G3081354211","display_name":null,"funder_award_id":"2018M630552","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3085547929","display_name":null,"funder_award_id":"2019T120424","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3757712619","display_name":null,"funder_award_id":"BK20170789","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G6140785169","display_name":null,"funder_award_id":"51705243","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1979448345","https://openalex.org/W2097280364","https://openalex.org/W2109239614","https://openalex.org/W2129275525","https://openalex.org/W2148916007","https://openalex.org/W2156698503","https://openalex.org/W2157110801","https://openalex.org/W2158121031","https://openalex.org/W2162866111","https://openalex.org/W2167054844","https://openalex.org/W2245746190","https://openalex.org/W2298179249","https://openalex.org/W2308951214","https://openalex.org/W2343693428","https://openalex.org/W2395392600","https://openalex.org/W2470482648","https://openalex.org/W2526519744","https://openalex.org/W2533599559","https://openalex.org/W2594498399","https://openalex.org/W2599869952","https://openalex.org/W2602009451","https://openalex.org/W2619413192","https://openalex.org/W2621752321","https://openalex.org/W2641223160","https://openalex.org/W2766594297","https://openalex.org/W2768112672","https://openalex.org/W2774706289","https://openalex.org/W2783897264","https://openalex.org/W2790129124","https://openalex.org/W2790134453","https://openalex.org/W2791119367","https://openalex.org/W2791293573","https://openalex.org/W2793535266","https://openalex.org/W2793699827","https://openalex.org/W2806185962","https://openalex.org/W2883114992","https://openalex.org/W2888244787","https://openalex.org/W2888416524","https://openalex.org/W2890383032","https://openalex.org/W2896033043","https://openalex.org/W2901731643","https://openalex.org/W2905084567","https://openalex.org/W2938261389","https://openalex.org/W2947806187","https://openalex.org/W2971155769","https://openalex.org/W2971508029","https://openalex.org/W2981786441","https://openalex.org/W2985342878","https://openalex.org/W3022695901","https://openalex.org/W3024926661","https://openalex.org/W3045660538","https://openalex.org/W3045871541","https://openalex.org/W3151304249","https://openalex.org/W4234694975"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2167345368","https://openalex.org/W4320922540","https://openalex.org/W4384916966","https://openalex.org/W82747921","https://openalex.org/W1989195983"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,36,95],"adaptive":[4,96,133],"proportional-integral-derivative":[5],"fractional-order":[6],"nonsingular":[7],"terminal":[8],"sliding":[9],"mode":[10],"(PID-FONTSM)":[11],"control":[12,23,50,106,114,140,167],"for":[13,108],"the":[14,29,49,57,81,86,105,109,125,138,160,170],"cable-driven":[15],"manipulators":[16],"using":[17,149],"time-delay":[18],"estimation":[19],"(TDE).":[20],"The":[21,52,112,135],"proposed":[22,53,82,113,166],"uses":[24,56],"TDE":[25,126,143],"technique":[26,127],"to":[27,46,100,124,158],"obtain":[28],"lumped":[30],"system":[31,141],"dynamics":[32,146],"and":[33,65,91,102,120,128,132,144,162],"brings":[34],"in":[35],"effective":[37],"model-free":[38],"structure.":[39],"Then,":[40],"a":[41,67],"PID-FONTSM":[42,54,83,130,145],"surface":[43,55,69,84,131],"is":[44,98,116,147],"designed":[45],"further":[47],"enhance":[48],"performance.":[51],"FONTSM":[58,71,92],"error":[59],"dynamic":[60],"as":[61,73],"its":[62,74],"inner":[63],"loop":[64],"utilises":[66],"PID-type":[68],"with":[70],"variable":[72],"outer":[75],"loop.":[76],"Benefitting":[77],"from":[78,88],"this":[79],"structure,":[80],"enjoys":[85],"advantages":[87],"both":[89],"PID":[90],"simultaneously.":[93],"Afterwards,":[94],"algorithm":[97],"developed,":[99],"timely":[101],"precisely":[103],"regulate":[104],"gain":[107],"robust":[110],"term.":[111],"method":[115,168],"model-free,":[117],"highly":[118],"accurate":[119],"essentially":[121],"continuous":[122],"thanks":[123],"developed":[129],"algorithm.":[134],"stability":[136,151],"of":[137,164],"closed-loop":[139],"under":[142],"proved":[148],"Lyapunov":[150],"theory.":[152],"Finally,":[153],"comparative":[154],"simulations":[155],"were":[156],"conducted":[157],"verify":[159],"effectiveness":[161],"superiorities":[163],"our":[165],"over":[169],"existing":[171],"methods.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}