{"id":"https://openalex.org/W2122628132","doi":"https://doi.org/10.1080/01691864.2015.1035323","title":"A decoupled sliding mode control for a continuum arm","display_name":"A decoupled sliding mode control for a continuum arm","publication_year":2015,"publication_date":"2015-07-03","ids":{"openalex":"https://openalex.org/W2122628132","doi":"https://doi.org/10.1080/01691864.2015.1035323","mag":"2122628132"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2015.1035323","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2015.1035323","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","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/A5024463972","display_name":"Mircea Iv\u0103nescu","orcid":"https://orcid.org/0000-0003-0967-0759"},"institutions":[{"id":"https://openalex.org/I97553796","display_name":"University of Craiova","ror":"https://ror.org/03s251g81","country_code":"RO","type":"education","lineage":["https://openalex.org/I97553796"]}],"countries":["RO"],"is_corresponding":true,"raw_author_name":"Mircea Ivanescu","raw_affiliation_strings":["Department of Mechatronics, University of Craiova, Craiova, Romania","[Department of Mechatronics, University of Craiova, Craiova, Romania]"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, University of Craiova, Craiova, Romania","institution_ids":["https://openalex.org/I97553796"]},{"raw_affiliation_string":"[Department of Mechatronics, University of Craiova, Craiova, Romania]","institution_ids":["https://openalex.org/I97553796"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102021475","display_name":"Decebal Popescu","orcid":"https://orcid.org/0000-0003-3921-5343"},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Decebal Popescu","raw_affiliation_strings":["Department of Computer Science, University Politehnica, Bucharest, Romania","Department of Computer Science, University Politehnica Bucharest, Romania"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University Politehnica, Bucharest, Romania","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"Department of Computer Science, University Politehnica Bucharest, Romania","institution_ids":["https://openalex.org/I61641377"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082298204","display_name":"Nirvana Popescu","orcid":"https://orcid.org/0000-0002-7843-7187"},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Nirvana Popescu","raw_affiliation_strings":["Department of Computer Science, University Politehnica, Bucharest, Romania","Department of Computer Science, University Politehnica Bucharest, Romania"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University Politehnica, Bucharest, Romania","institution_ids":["https://openalex.org/I61641377"]},{"raw_affiliation_string":"Department of Computer Science, University Politehnica Bucharest, Romania","institution_ids":["https://openalex.org/I61641377"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024463972"],"corresponding_institution_ids":["https://openalex.org/I97553796"],"apc_list":null,"apc_paid":null,"fwci":1.4162,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80726705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"29","issue":"13","first_page":"831","last_page":"845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9775000214576721,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.7646639347076416},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.745298445224762},{"id":"https://openalex.org/keywords/ode","display_name":"Ode","score":0.6764447689056396},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5811926126480103},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4743339419364929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4160003662109375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3876441717147827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2640751004219055},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.22390460968017578},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19202730059623718},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14912238717079163},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14333152770996094},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.114987313747406}],"concepts":[{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.7646639347076416},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.745298445224762},{"id":"https://openalex.org/C34862557","wikidata":"https://www.wikidata.org/wiki/Q178985","display_name":"Ode","level":2,"score":0.6764447689056396},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5811926126480103},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4743339419364929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4160003662109375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3876441717147827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2640751004219055},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.22390460968017578},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19202730059623718},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14912238717079163},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14333152770996094},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.114987313747406},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2015.1035323","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2015.1035323","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"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":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1521785144","https://openalex.org/W1573670163","https://openalex.org/W1595955542","https://openalex.org/W1824781776","https://openalex.org/W1836215632","https://openalex.org/W1842017619","https://openalex.org/W1891615552","https://openalex.org/W1936407254","https://openalex.org/W1965456896","https://openalex.org/W1966840580","https://openalex.org/W1988003703","https://openalex.org/W1990749542","https://openalex.org/W1998856946","https://openalex.org/W2001803686","https://openalex.org/W2026480704","https://openalex.org/W2053614949","https://openalex.org/W2076245689","https://openalex.org/W2083007305","https://openalex.org/W2096645690","https://openalex.org/W2101667962","https://openalex.org/W2111392303","https://openalex.org/W2117257735","https://openalex.org/W2118997958","https://openalex.org/W2126828342","https://openalex.org/W2138072388","https://openalex.org/W2138564331","https://openalex.org/W2142828858","https://openalex.org/W2144709180","https://openalex.org/W2147492425","https://openalex.org/W2150495160","https://openalex.org/W2150815304","https://openalex.org/W2154963387","https://openalex.org/W2156218502","https://openalex.org/W2162841284","https://openalex.org/W2271075069","https://openalex.org/W2322341491","https://openalex.org/W3142707146","https://openalex.org/W3208644056","https://openalex.org/W4211245182","https://openalex.org/W4365800129"],"related_works":["https://openalex.org/W2371448224","https://openalex.org/W3134495997","https://openalex.org/W2363680170","https://openalex.org/W2376428685","https://openalex.org/W4256082577","https://openalex.org/W625783435","https://openalex.org/W2048742619","https://openalex.org/W2384641672","https://openalex.org/W1997414638","https://openalex.org/W2470760351"],"abstract_inverted_index":{"The":[0,18,33,41,56,61,116],"paper":[1],"treats":[2],"the":[3,45,51,65,70,90,110,114,119,136,139],"control":[4,35,47,102,121],"problem":[5],"of":[6,9,15,44,64,78,83,113,118,138],"a":[7,13,23,38,76],"class":[8],"robots":[10],"constituted":[11],"by":[12,50,75],"chain":[14],"continuum":[16],"segments.":[17],"technological":[19],"model":[20,58,96],"basis":[21],"is":[22,37,59,68,97,104,123],"central,":[24],"long":[25],"and":[26,30,53,87,89,127],"thin,":[27],"highly":[28],"flexible":[29],"elastic":[31],"backbone.":[32],"segment":[34],"system":[36,103,122],"decoupled":[39],"one.":[40],"main":[42],"parameters":[43],"arm":[46],"are":[48,73,131],"determined":[49],"curvature":[52,54,92],"gradient.":[55],"dynamic":[57,71],"inferred.":[60],"primary":[62],"benefit":[63],"proposed":[66],"method":[67],"that":[69],"equations":[72],"represented":[74],"set":[77],"ODE\u2019s":[79],"in":[80,85,106],"time":[81,86],"instead":[82],"PDE\u2019s":[84],"space,":[88],"new":[91],"gradient":[93],"lumped":[94],"parameter":[95],"used.":[98],"A":[99],"sliding":[100],"mode":[101],"used":[105],"order":[107],"to":[108,134],"achieve":[109],"desired":[111],"shape":[112],"arm.":[115],"stability":[117],"closed-loop":[120],"proven.":[124],"Numerical":[125],"simulations":[126],"an":[128],"experimental":[129],"platform":[130],"also":[132],"provided":[133],"verify":[135],"effectiveness":[137],"presented":[140],"approach.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
