{"id":"https://openalex.org/W2946526937","doi":"https://doi.org/10.1109/access.2019.2918721","title":"Active Disturbance Rejection With Fast Terminal Sliding Mode Control for a Lower Limb Exoskeleton in Swing Phase","display_name":"Active Disturbance Rejection With Fast Terminal Sliding Mode Control for a Lower Limb Exoskeleton in Swing Phase","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2946526937","doi":"https://doi.org/10.1109/access.2019.2918721","mag":"2946526937"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2918721","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2918721","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08721059.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08721059.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025273699","display_name":"Chao-Feng Chen","orcid":"https://orcid.org/0000-0002-1466-9050"},"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":"Chao-Feng Chen","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1466-9050","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091883161","display_name":"Zhijiang Du","orcid":"https://orcid.org/0000-0003-3044-9733"},"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":"Zhi-Jiang Du","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101987942","display_name":"Long He","orcid":"https://orcid.org/0000-0001-7582-3501"},"institutions":[{"id":"https://openalex.org/I3174185376","display_name":"China South Industries Group (China)","ror":"https://ror.org/04n0f2b96","country_code":"CN","type":"company","lineage":["https://openalex.org/I3174185376"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long He","raw_affiliation_strings":["China South Industries Group Corporation, Weapon Equipment Research Institute, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China South Industries Group Corporation, Weapon Equipment Research Institute, Beijing, China","institution_ids":["https://openalex.org/I3174185376"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365398","display_name":"Jiaqi Wang","orcid":"https://orcid.org/0009-0007-9968-8755"},"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":"Jia-Qi Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102865791","display_name":"Dongmei Wu","orcid":"https://orcid.org/0000-0002-0291-5453"},"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":"Dong-Mei Wu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068941811","display_name":"Wei Dong","orcid":"https://orcid.org/0000-0002-1211-6444"},"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":"Wei Dong","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.6781,"has_fulltext":true,"cited_by_count":77,"citation_normalized_percentile":{"value":0.93587601,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"72343","last_page":"72357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10925","display_name":"Spinal Cord Injury Research","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/2734","display_name":"Pathology and Forensic Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8578919172286987},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.739525318145752},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7161247730255127},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.7084980010986328},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.6737862229347229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6381634473800659},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.581512451171875},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5320618748664856},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.49241864681243896},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.4763619899749756},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3323330581188202},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21792256832122803},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.20035335421562195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1957896649837494},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18376508355140686},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1361294388771057}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8578919172286987},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.739525318145752},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7161247730255127},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.7084980010986328},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.6737862229347229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6381634473800659},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.581512451171875},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5320618748664856},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.49241864681243896},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.4763619899749756},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3323330581188202},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21792256832122803},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.20035335421562195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1957896649837494},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18376508355140686},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1361294388771057},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2918721","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2918721","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08721059.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d7ec7bb0161046dbaabba24e8274fc2a","is_oa":true,"landing_page_url":"https://doaj.org/article/d7ec7bb0161046dbaabba24e8274fc2a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 72343-72357 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2918721","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2918721","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08721059.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2946526937.pdf","grobid_xml":"https://content.openalex.org/works/W2946526937.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1956237300","https://openalex.org/W1968113069","https://openalex.org/W1975958028","https://openalex.org/W1988367613","https://openalex.org/W1990777642","https://openalex.org/W1991936423","https://openalex.org/W2042541291","https://openalex.org/W2059470517","https://openalex.org/W2070054839","https://openalex.org/W2081254081","https://openalex.org/W2087050671","https://openalex.org/W2104992636","https://openalex.org/W2105601634","https://openalex.org/W2108419276","https://openalex.org/W2108965296","https://openalex.org/W2135493101","https://openalex.org/W2138300314","https://openalex.org/W2141943257","https://openalex.org/W2160314710","https://openalex.org/W2169051170","https://openalex.org/W2298526555","https://openalex.org/W2343715419","https://openalex.org/W2420367108","https://openalex.org/W2484229617","https://openalex.org/W2510569194","https://openalex.org/W2574540508","https://openalex.org/W2605055769","https://openalex.org/W2605267742","https://openalex.org/W2790523184","https://openalex.org/W2933401410","https://openalex.org/W3144998809","https://openalex.org/W6661003015","https://openalex.org/W6674942416"],"related_works":["https://openalex.org/W3129061494","https://openalex.org/W2529889974","https://openalex.org/W1994244201","https://openalex.org/W3098571475","https://openalex.org/W4382702321","https://openalex.org/W4200632775","https://openalex.org/W4382020979","https://openalex.org/W4309868962","https://openalex.org/W2972482874","https://openalex.org/W3112051880"],"abstract_inverted_index":{"In":[0],"this":[1,144],"paper,":[2],"a":[3,43,52,65],"control":[4,24,31,63,70,93,112],"strategy":[5,113,145],"is":[6,123],"proposed":[7,20,92,111,162],"to":[8,42,125],"improve":[9],"the":[10,14,37,49,56,68,75,88,91,95,110,119,126,135,138,149,161,164],"tracking":[11,158,170],"performance":[12],"of":[13,90,129,157],"lower":[15],"limb":[16],"exoskeleton":[17],"(LLE).":[18],"The":[19,103],"active":[21],"disturbance":[22,38],"rejection":[23],"(ADRC)":[25],"with":[26],"fast":[27],"terminal":[28],"sliding":[29],"mode":[30],"(FTSMC)":[32],"can":[33,116,167],"not":[34],"only":[35],"alleviate":[36],"but":[39],"also":[40],"converge":[41],"bounded":[44],"region":[45],"fast.":[46],"Based":[47],"on":[48],"robotics":[50],"analysis,":[51],"dynamic":[53],"model":[54],"for":[55,64],"LLE":[57,165],"was":[58,72,146],"established.":[59],"To":[60,86],"achieve":[61,168],"decoupling":[62],"coupled":[66],"system,":[67],"virtual":[69],"input":[71],"introduced,":[73],"where":[74],"system":[76,166],"uncertainty":[77],"and":[78,97,114,137,153,172],"external":[79],"disturbances":[80],"were":[81,99,107,141],"regarded":[82],"as":[83],"lumped":[84],"disturbances.":[85],"validate":[87],"feasibility":[89],"strategy,":[94],"simulations":[96,136],"experiments":[98,139],"both":[100],"carried":[101],"out.":[102],"numerical":[104],"simulation":[105],"results":[106,140],"shown":[108,142],"that":[109,143],"ADRC":[115,154],"remarkably":[117],"reduce":[118],"chattering":[120],"phenomena,":[121],"which":[122],"owing":[124],"estimation":[127],"ability":[128],"extended":[130],"state":[131],"observer":[132],"(ESO).":[133],"Both":[134],"better":[147],"than":[148],"conventional":[150],"proportional-integral-derivative":[151],"(PID)":[152],"in":[155],"terms":[156],"performance.":[159],"With":[160],"ADRC-FTSMC,":[163],"higher":[169],"precision":[171],"faster":[173],"response.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}