{"id":"https://openalex.org/W3020110102","doi":"https://doi.org/10.1109/access.2020.2989613","title":"A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators","display_name":"A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3020110102","doi":"https://doi.org/10.1109/access.2020.2989613","mag":"3020110102"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2989613","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2989613","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09076658.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8948470/09076658.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073138704","display_name":"Van\u2010Cuong Nguyen","orcid":"https://orcid.org/0000-0002-1991-6970"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Van-Cuong Nguyen","raw_affiliation_strings":["Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-1991-6970","affiliations":[{"raw_affiliation_string":"Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea","institution_ids":["https://openalex.org/I40542001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101592586","display_name":"Anh Tuan Vo","orcid":"https://orcid.org/0000-0002-9361-3919"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Anh-Tuan Vo","raw_affiliation_strings":["Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9361-3919","affiliations":[{"raw_affiliation_string":"Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea","institution_ids":["https://openalex.org/I40542001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107839232","display_name":"Hee\u2010Jun Kang","orcid":"https://orcid.org/0000-0001-9121-5442"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hee-Jun Kang","raw_affiliation_strings":["School of Electrical Engineering, University of Ulsan, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9121-5442","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, University of Ulsan, Ulsan, South Korea","institution_ids":["https://openalex.org/I40542001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I40542001"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.7054,"has_fulltext":true,"cited_by_count":58,"citation_normalized_percentile":{"value":0.97368733,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"78109","last_page":"78120"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9902999997138977,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9797999858856201,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.8871084451675415},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.767857015132904},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6797824501991272},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6316486597061157},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5598806738853455},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5356611013412476},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5157573223114014},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.48319756984710693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.478697806596756},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4702647626399994},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4629249572753906},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.45959174633026123},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.45343345403671265},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35742801427841187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11735501885414124},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07711094617843628},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05608305335044861}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8871084451675415},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.767857015132904},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6797824501991272},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6316486597061157},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5598806738853455},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5356611013412476},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5157573223114014},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.48319756984710693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.478697806596756},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4702647626399994},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4629249572753906},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.45959174633026123},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.45343345403671265},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35742801427841187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11735501885414124},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07711094617843628},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05608305335044861},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2989613","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2989613","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09076658.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c0cf73d76c664645bf0365eb0000e85d","is_oa":false,"landing_page_url":"https://doaj.org/article/c0cf73d76c664645bf0365eb0000e85d","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 78109-78120 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2989613","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2989613","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09076658.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1197706284","display_name":null,"funder_award_id":"2019R1D1A3A03103528","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G4879205454","display_name":null,"funder_award_id":"2019R1D1A3A03103528","funder_id":"https://openalex.org/F4320321408","funder_display_name":"Ministry of Education"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3020110102.pdf","grobid_xml":"https://content.openalex.org/works/W3020110102.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1973329004","https://openalex.org/W1988837728","https://openalex.org/W1990416631","https://openalex.org/W1999558720","https://openalex.org/W2004290356","https://openalex.org/W2018918594","https://openalex.org/W2023364578","https://openalex.org/W2029700848","https://openalex.org/W2036583368","https://openalex.org/W2044176547","https://openalex.org/W2048145332","https://openalex.org/W2057491769","https://openalex.org/W2072857324","https://openalex.org/W2090028111","https://openalex.org/W2101433417","https://openalex.org/W2106336670","https://openalex.org/W2109483761","https://openalex.org/W2119936308","https://openalex.org/W2121570671","https://openalex.org/W2123926537","https://openalex.org/W2128135221","https://openalex.org/W2140476622","https://openalex.org/W2141604475","https://openalex.org/W2143121414","https://openalex.org/W2154892481","https://openalex.org/W2156698503","https://openalex.org/W2292277659","https://openalex.org/W2343067029","https://openalex.org/W2343218201","https://openalex.org/W2401954820","https://openalex.org/W2466053970","https://openalex.org/W2507795633","https://openalex.org/W2587804202","https://openalex.org/W2592866105","https://openalex.org/W2611762128","https://openalex.org/W2736409683","https://openalex.org/W2743627645","https://openalex.org/W2789897185","https://openalex.org/W2790134453","https://openalex.org/W2792868791","https://openalex.org/W2793454867","https://openalex.org/W2904279120","https://openalex.org/W2905453475","https://openalex.org/W2933888270","https://openalex.org/W2944206801","https://openalex.org/W2964668815"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2131481667","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2016095328","https://openalex.org/W4214925198","https://openalex.org/W1995636945","https://openalex.org/W2404840993","https://openalex.org/W2088371781","https://openalex.org/W1788310316"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,7,161],"controller-observer":[4,53,131],"strategy":[5,54,75,144],"for":[6],"class":[8],"of":[9,36,47,92,117,129],"second-order":[10],"uncertain":[11,34,95],"nonlinear":[12],"systems":[13],"with":[14,38],"only":[15],"available":[16],"position":[17],"measurement.":[18],"The":[19,125],"third-order":[20],"sliding":[21,62,64,106],"mode":[22,63],"observer":[23],"is":[24,55,133,145,154,165],"first":[25],"introduced":[26],"to":[27,70,147],"estimate":[28],"both":[29],"velocities":[30],"and":[31,43,66,103,113,151],"the":[32,51,73,90,93,115,118,137,142],"lumped":[33,94],"terms":[35],"system":[37,150],"high":[39,82],"accuracy,":[40,84],"less":[41],"chattering,":[42],"finite":[44,100,126],"time":[45,101,127],"convergency":[46],"estimation":[48,120],"errors.":[49],"Then,":[50],"proposed":[52,67,74,130,143],"designed":[56],"based":[57],"on":[58],"non-singular":[59],"fast":[60],"terminal":[61],"control":[65],"observer.":[68],"Thanks":[69],"this":[71],"combination,":[72],"has":[76],"some":[77],"superior":[78],"properties":[79],"such":[80],"as":[81],"tracking":[83],"chattering":[85],"phenomenon":[86],"reduction,":[87],"robustness":[88],"against":[89],"effects":[91],"terms,":[96],"velocity":[97,119],"measurement":[98],"elimination,":[99],"convergence,":[102],"faster":[104],"reaching":[105],"motion.":[107],"Especially,":[108],"two":[109],"period":[110],"times,":[111],"before":[112],"after":[114],"convergence":[116],"takes":[121],"place,":[122],"are":[123],"considered.":[124],"stability":[128,139],"method":[132],"proved":[134],"by":[135,156],"using":[136],"Lyapunov":[138],"theory.":[140],"Final,":[141],"applied":[146],"robot":[148,163],"manipulator":[149,164],"its":[152],"effectiveness":[153],"verified":[155],"simulation":[157],"results,":[158],"in":[159],"which":[160],"PUMA560":[162],"employed.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}