{"id":"https://openalex.org/W4319790429","doi":"https://doi.org/10.1080/01691864.2022.2163856","title":"Adaptive finite-time model estimation and control for manipulator visual servoing using sliding mode control and neural networks","display_name":"Adaptive finite-time model estimation and control for manipulator visual servoing using sliding mode control and neural networks","publication_year":2023,"publication_date":"2023-01-27","ids":{"openalex":"https://openalex.org/W4319790429","doi":"https://doi.org/10.1080/01691864.2022.2163856"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2022.2163856","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2163856","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/A5083160856","display_name":"Haibin Zeng","orcid":"https://orcid.org/0000-0002-6990-7976"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Zeng","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China"],"raw_orcid":"https://orcid.org/0000-0002-6990-7976","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068903421","display_name":"Yueyong Lyu","orcid":"https://orcid.org/0009-0006-7297-9248"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yueyong Lyu","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079424145","display_name":"Jiaming Qi","orcid":"https://orcid.org/0000-0003-2655-6835"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Qi","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China"],"raw_orcid":"https://orcid.org/0000-0003-2655-6835","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055243743","display_name":"Shuangquan Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangquan Zou","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036642695","display_name":"Tanghao Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tanghao Qin","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011956783","display_name":"Wenyu Qin","orcid":"https://orcid.org/0009-0007-8403-7167"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyu Qin","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, People's Republic of China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068903421"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.942,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.76146538,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"37","issue":"9","first_page":"576","last_page":"590"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976999759674072,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/visual-servoing","display_name":"Visual servoing","score":0.8465750217437744},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6920644640922546},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6315152645111084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.599646806716919},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.513782799243927},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5096735954284668},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.48979997634887695},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.477123498916626},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4501030445098877},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.43330222368240356},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4018237292766571},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3995084762573242},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3051411509513855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27828362584114075},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09884831309318542}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8465750217437744},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6920644640922546},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6315152645111084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.599646806716919},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.513782799243927},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5096735954284668},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.48979997634887695},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.477123498916626},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4501030445098877},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.43330222368240356},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4018237292766571},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3995084762573242},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3051411509513855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27828362584114075},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09884831309318542},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":1,"locations":[{"id":"doi:10.1080/01691864.2022.2163856","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2163856","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":[{"id":"https://openalex.org/G2857140628","display_name":null,"funder_award_id":"61973100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3616698280","display_name":null,"funder_award_id":"61876050","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7699802258","display_name":null,"funder_award_id":"12150008","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1514444483","https://openalex.org/W1971140104","https://openalex.org/W1994031680","https://openalex.org/W1994951210","https://openalex.org/W2000201135","https://openalex.org/W2011757200","https://openalex.org/W2035981208","https://openalex.org/W2047448918","https://openalex.org/W2110702780","https://openalex.org/W2114081607","https://openalex.org/W2129275525","https://openalex.org/W2183462605","https://openalex.org/W2317722761","https://openalex.org/W2886873951","https://openalex.org/W2891333381","https://openalex.org/W2895976327","https://openalex.org/W2940375853","https://openalex.org/W2981073951","https://openalex.org/W3011746189","https://openalex.org/W3118195878","https://openalex.org/W3192829380","https://openalex.org/W3199951390","https://openalex.org/W3207299932","https://openalex.org/W3215295118","https://openalex.org/W4282978150"],"related_works":["https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W2919815400","https://openalex.org/W2156518980","https://openalex.org/W2159353126","https://openalex.org/W2567391447","https://openalex.org/W2093621301","https://openalex.org/W849053048","https://openalex.org/W2517515794","https://openalex.org/W2078127841"],"abstract_inverted_index":{"The":[0,74,168,196],"image-based":[1],"visual":[2,25],"servoing":[3],"without":[4],"models":[5],"of":[6,20,30,69,86,95,122,177,202,224],"the":[7,28,31,41,47,93,96,123,136,175,188,200,217,229,233,250],"system":[8,234],"is":[9,13,44,78,113,131,151,227],"challenging":[10],"since":[11],"it":[12],"hard":[14],"to":[15,46,91,115,134,153,237,248],"fetch":[16],"an":[17,127],"accurate":[18,143],"estimation":[19,94,121,179,186],"hand-eye":[21,33,101],"relationship":[22,34,102],"via":[23,106],"merely":[24],"measurement.":[26],"Whereas,":[27],"accuracy":[29,176],"estimated":[32],"expressed":[35],"in":[36,66,174,232],"local":[37,75],"linear":[38,76],"format":[39],"with":[40,103,159,192,216],"Jacobian":[42,63,124,189],"matrix":[43,64,190],"important":[45],"whole":[48],"system's":[49],"performance.":[50,253],"In":[51],"this":[52],"article,":[53],"we":[54,82],"proposed":[55,169,197,251],"a":[56,62,67,84,117,141,146,155,211],"finite-time":[57,156,206,241],"controller":[58],"as":[59,61],"well":[60],"estimator":[65,170],"combination":[68,85,201],"online":[70,87,128],"and":[71,88,99,180,205],"offline":[72,89,137],"ways.":[73],"formulation":[77],"formulated":[79],"first.":[80],"Then,":[81,126],"use":[83],"methods":[90],"boost":[92],"highly":[97],"coupled":[98],"nonlinear":[100],"data":[104],"collected":[105],"depth":[107],"camera.":[108],"A":[109],"neural":[110,203],"network":[111,204],"(NN)":[112],"pre-trained":[114],"give":[116],"relative":[118],"reasonable":[119],"initial":[120,178],"matrix.":[125],"updating":[129],"method":[130],"carried":[132,246],"out":[133,247],"modify":[135],"trained":[138],"NN":[139],"for":[140,184,187],"more":[142],"estimation.":[144],"Moreover,":[145],"sliding":[147],"mode":[148],"control":[149,207],"algorithm":[150,163,226],"introduced":[152],"realize":[154],"controller.":[157],"Compared":[158],"previous":[160],"methods,":[161],"our":[162,225],"possesses":[164,171],"better":[165],"convergence":[166,213],"speed.":[167],"excellent":[172],"performance":[173],"powerful":[181],"tracking":[182],"capabilities":[183],"time-varying":[185],"compared":[191,215],"other":[193],"data-driven":[194],"estimators.":[195],"scheme":[198],"acquires":[199],"effect":[208],"which":[209],"drives":[210],"faster":[212],"speed":[214],"exponentially":[218],"converge":[219],"ones.":[220],"Another":[221],"main":[222],"feature":[223],"that":[228],"state":[230],"signals":[231],"are":[235,245],"proven":[236],"be":[238],"semi-global":[239],"practical":[240],"stable.":[242],"Several":[243],"experiments":[244],"validate":[249],"algorithm's":[252]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
