{"id":"https://openalex.org/W3041077796","doi":"https://doi.org/10.1109/access.2020.3008152","title":"Robust Adaptive Sliding-Mode Control of a Permanent Magnetic Spherical Actuator With Delay Compensation","display_name":"Robust Adaptive Sliding-Mode Control of a Permanent Magnetic Spherical Actuator With Delay Compensation","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3041077796","doi":"https://doi.org/10.1109/access.2020.3008152","mag":"3041077796"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3008152","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3008152","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09137255.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/ielx7/6287639/8948470/09137255.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071711613","display_name":"Xiwen Guo","orcid":"https://orcid.org/0000-0002-0592-0514"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiwen Guo","raw_affiliation_strings":["Engineering Research Center of Power Quality, Ministry of Education, Anhui University, Hefei, China","National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-0592-0514","affiliations":[{"raw_affiliation_string":"Engineering Research Center of Power Quality, Ministry of Education, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088444975","display_name":"Kaida Pan","orcid":"https://orcid.org/0000-0003-1975-4307"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaida Pan","raw_affiliation_strings":["National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-1975-4307","affiliations":[{"raw_affiliation_string":"National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073330666","display_name":"Qunjing Wang","orcid":"https://orcid.org/0000-0002-1916-8116"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qunjing Wang","raw_affiliation_strings":["Engineering Research Center of Power Quality, Ministry of Education, Anhui University, Hefei, China","National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Power Quality, Ministry of Education, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069799957","display_name":"Yan Wen","orcid":"https://orcid.org/0000-0002-0595-1687"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wen","raw_affiliation_strings":["National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","School of Electrical Engineering and Automation, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-0595-1687","affiliations":[{"raw_affiliation_string":"National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"School of Electrical Engineering and Automation, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071711613"],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.2331,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.76666794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"128096","last_page":"128105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9740999937057495,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9740999937057495,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9611999988555908,"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"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9611999988555908,"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/control-theory","display_name":"Control theory (sociology)","score":0.9198189973831177},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7192702293395996},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6680428385734558},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6385174989700317},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.621231734752655},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5988030433654785},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.586927056312561},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5365621447563171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5239291787147522},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4874732494354248},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4700576066970825},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4159415066242218},{"id":"https://openalex.org/keywords/magnetic-bearing","display_name":"Magnetic bearing","score":0.4136689007282257},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.34674930572509766},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21652346849441528},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18703344464302063},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.1866072416305542},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14211371541023254},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08028766512870789}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9198189973831177},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7192702293395996},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6680428385734558},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6385174989700317},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.621231734752655},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5988030433654785},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.586927056312561},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5365621447563171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5239291787147522},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4874732494354248},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4700576066970825},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4159415066242218},{"id":"https://openalex.org/C153056533","wikidata":"https://www.wikidata.org/wiki/Q1587136","display_name":"Magnetic bearing","level":3,"score":0.4136689007282257},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34674930572509766},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21652346849441528},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18703344464302063},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.1866072416305542},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14211371541023254},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08028766512870789},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3008152","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3008152","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09137255.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:b30d943deb1a42388b05ad7a8980a7a2","is_oa":true,"landing_page_url":"https://doaj.org/article/b30d943deb1a42388b05ad7a8980a7a2","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 8, Pp 128096-128105 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3008152","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3008152","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09137255.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":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2827484649","display_name":null,"funder_award_id":"02303203(32030049)","funder_id":"https://openalex.org/F4320321435","funder_display_name":"Anhui University"},{"id":"https://openalex.org/G541116669","display_name":null,"funder_award_id":"51637001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5846468423","display_name":null,"funder_award_id":"2008085ME156","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G7069095022","display_name":null,"funder_award_id":"J01005126","funder_id":"https://openalex.org/F4320321435","funder_display_name":"Anhui University"},{"id":"https://openalex.org/G7509331122","display_name":null,"funder_award_id":"32030049","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7621833217","display_name":null,"funder_award_id":"51307001","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/F4320321435","display_name":"Anhui University","ror":"https://ror.org/05th6yx34"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3041077796.pdf","grobid_xml":"https://content.openalex.org/works/W3041077796.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1594550505","https://openalex.org/W1968302264","https://openalex.org/W1978990994","https://openalex.org/W2026508056","https://openalex.org/W2029129829","https://openalex.org/W2070699733","https://openalex.org/W2086105717","https://openalex.org/W2106233780","https://openalex.org/W2109927929","https://openalex.org/W2148817481","https://openalex.org/W2148999439","https://openalex.org/W2163168124","https://openalex.org/W2209478451","https://openalex.org/W2344586719","https://openalex.org/W2363186394","https://openalex.org/W2423769549","https://openalex.org/W2542683279","https://openalex.org/W2562759583","https://openalex.org/W2604155060","https://openalex.org/W2611815608","https://openalex.org/W2785391587","https://openalex.org/W2789548331","https://openalex.org/W2904999313","https://openalex.org/W2910192643","https://openalex.org/W2917358476","https://openalex.org/W2925065924","https://openalex.org/W2930070868","https://openalex.org/W2974769417"],"related_works":["https://openalex.org/W2128435259","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2372856383","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W2319803529","https://openalex.org/W1562326332","https://openalex.org/W1550017747"],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"an":[3,39],"adaptive":[4,81,93],"robust":[5,56,94],"sliding-mode":[6,95],"control":[7,36,87,110,135],"strategy":[8,111],"with":[9],"time":[10,26,49],"delay":[11,27,50],"compensation":[12],"to":[13,45,62],"address":[14],"the":[15,18,48,64,70,74,80,86,92,100,109,127],"issues":[16],"of":[17,20,66,73,91,131,133],"inaccuracy":[19],"modeling,":[21],"friction,":[22],"uncertain":[23,67],"disturbances,":[24],"and":[25,83,104,119],"in":[28,51,113],"a":[29,55],"permanent":[30],"magnet":[31],"spherical":[32,75],"actuator":[33,76],"trajectory":[34],"tracking":[35],"system.":[37,136],"First,":[38],"improved":[40],"linear":[41],"predictor":[42],"is":[43,60,97],"designed":[44,61],"compensate":[46],"for":[47,126],"position":[52],"information.":[53],"Second,":[54],"sliding":[57],"mode":[58],"controller":[59,96],"suppress":[63],"influence":[65],"disturbance.":[68],"Third,":[69],"constant":[71],"parameters":[72],"are":[77],"estimated":[78],"using":[79],"law":[82],"compensated":[84],"at":[85],"input.":[88],"The":[89],"stability":[90],"proved":[98],"by":[99],"Lyapunov":[101],"theorem.":[102],"Simulation":[103],"experimental":[105],"results":[106],"show":[107],"that":[108],"proposed":[112],"this":[114],"research":[115],"has":[116],"good":[117],"dynamic":[118],"static":[120],"performance,":[121],"which":[122],"can":[123],"provide":[124],"reference":[125],"further":[128],"engineering":[129],"application":[130],"multi-degree":[132],"freedom":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
