{"id":"https://openalex.org/W3042010185","doi":"https://doi.org/10.1109/access.2020.3008399","title":"A New Reinforcement Learning Based Adaptive Sliding Mode Control Scheme for Free-Floating Space Robotic Manipulator","display_name":"A New Reinforcement Learning Based Adaptive Sliding Mode Control Scheme for Free-Floating Space Robotic Manipulator","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3042010185","doi":"https://doi.org/10.1109/access.2020.3008399","mag":"3042010185"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3008399","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3008399","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09138387.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/ielx7/6287639/8948470/09138387.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101674775","display_name":"Zhicheng Xie","orcid":"https://orcid.org/0000-0003-3667-5280"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhicheng Xie","raw_affiliation_strings":["School of , and ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of , and ,","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103481007","display_name":"Tao Sun","orcid":"https://orcid.org/0009-0003-2339-5906"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao Sun","raw_affiliation_strings":["School of , and ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of , and ,","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103276711","display_name":"Trevor Hocksun Kwan","orcid":"https://orcid.org/0000-0001-6995-0280"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Trevor Hocksun Kwan","raw_affiliation_strings":["School of , and ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of , and ,","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074469298","display_name":"Zhongcheng Mu","orcid":"https://orcid.org/0000-0002-8868-0447"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhongcheng Mu","raw_affiliation_strings":["School of , and ,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of , and ,","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100368800","display_name":"Xiaofeng Wu","orcid":"https://orcid.org/0000-0002-8016-0914"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiaofeng Wu","raw_affiliation_strings":["School of , and ,"],"raw_orcid":"https://orcid.org/0000-0002-8016-0914","affiliations":[{"raw_affiliation_string":"School of , and ,","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100368800"],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":17.9293,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.98524643,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"127048","last_page":"127064"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9983999729156494,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9901000261306763,"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":0.9251999855041504,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.88092440366745},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6049301028251648},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.599371075630188},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.533961832523346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5260277390480042},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5134292840957642},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.49436187744140625},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43334487080574036},{"id":"https://openalex.org/keywords/hyperbolic-function","display_name":"Hyperbolic function","score":0.42647647857666016},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.42554694414138794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3215070366859436},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.18937626481056213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10639521479606628},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10413491725921631}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.88092440366745},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6049301028251648},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.599371075630188},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.533961832523346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5260277390480042},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5134292840957642},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.49436187744140625},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43334487080574036},{"id":"https://openalex.org/C92047909","wikidata":"https://www.wikidata.org/wiki/Q204034","display_name":"Hyperbolic function","level":2,"score":0.42647647857666016},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42554694414138794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3215070366859436},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.18937626481056213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10639521479606628},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10413491725921631},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":2,"locations":[{"id":"doi:10.1109/access.2020.3008399","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3008399","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09138387.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:6bdc92931e82420f9904184f0a59474d","is_oa":true,"landing_page_url":"https://doaj.org/article/6bdc92931e82420f9904184f0a59474d","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 127048-127064 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3008399","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3008399","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09138387.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":[{"display_name":"Peace, Justice and strong institutions","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3042010185.pdf","grobid_xml":"https://content.openalex.org/works/W3042010185.grobid-xml"},"referenced_works_count":70,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W169213544","https://openalex.org/W1500476116","https://openalex.org/W1704499567","https://openalex.org/W1918391973","https://openalex.org/W1955880755","https://openalex.org/W1966352129","https://openalex.org/W1967980245","https://openalex.org/W1981257078","https://openalex.org/W2004232294","https://openalex.org/W2005183808","https://openalex.org/W2015982707","https://openalex.org/W2016437006","https://openalex.org/W2032198200","https://openalex.org/W2037997707","https://openalex.org/W2044768571","https://openalex.org/W2047823382","https://openalex.org/W2049933349","https://openalex.org/W2055930596","https://openalex.org/W2069898466","https://openalex.org/W2070884781","https://openalex.org/W2073258676","https://openalex.org/W2074465517","https://openalex.org/W2085309719","https://openalex.org/W2087383031","https://openalex.org/W2090308161","https://openalex.org/W2097992653","https://openalex.org/W2099442362","https://openalex.org/W2104250594","https://openalex.org/W2119127206","https://openalex.org/W2119390933","https://openalex.org/W2121863487","https://openalex.org/W2137564278","https://openalex.org/W2138966469","https://openalex.org/W2166112989","https://openalex.org/W2167054844","https://openalex.org/W2275947424","https://openalex.org/W2322303669","https://openalex.org/W2331775588","https://openalex.org/W2343693428","https://openalex.org/W2439874220","https://openalex.org/W2461482723","https://openalex.org/W2602009451","https://openalex.org/W2608224837","https://openalex.org/W2626524254","https://openalex.org/W2729851129","https://openalex.org/W2762970698","https://openalex.org/W2766594297","https://openalex.org/W2768811565","https://openalex.org/W2781785404","https://openalex.org/W2790232939","https://openalex.org/W2800663337","https://openalex.org/W2804760335","https://openalex.org/W2804938510","https://openalex.org/W2807402986","https://openalex.org/W2810461391","https://openalex.org/W2884625748","https://openalex.org/W2913053245","https://openalex.org/W2913709584","https://openalex.org/W2914834352","https://openalex.org/W2921509807","https://openalex.org/W2952998941","https://openalex.org/W2970644365","https://openalex.org/W2980139847","https://openalex.org/W2981467816","https://openalex.org/W2990799720","https://openalex.org/W2994403743","https://openalex.org/W3000039580","https://openalex.org/W3013434367","https://openalex.org/W6637387564"],"related_works":["https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W2166459078","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2306349892","https://openalex.org/W2274682661","https://openalex.org/W2786766270","https://openalex.org/W897560829","https://openalex.org/W2375807149"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,57,66,125],"new":[4,58],"adaptive":[5,59],"small":[6,47,184],"chattering":[7,48,141],"sliding":[8,41,108,133],"mode":[9,42],"control":[10,25,43,73,196],"(SCSMC)":[11],"scheme":[12,44,197],"that":[13],"uses":[14],"reinforcement":[15],"learning":[16],"(RL)":[17],"and":[18,36,50,65,101],"time-delay":[19],"estimation":[20,95],"(TDE)":[21],"for":[22,61,121,153],"the":[23,52,62,72,77,98,107,112,115,118,131,137,144,148,160,167,188,194],"motion":[24],"of":[26,83,117,130,162,193],"free-floating":[27],"space":[28],"robotic":[29],"manipulators":[30],"(FSRM)":[31],"subject":[32],"to":[33,70,139,158,177],"model":[34],"uncertainty":[35],"external":[37],"disturbance.":[38],"The":[39,172,191],"proposed":[40,195],"can":[45],"achieve":[46],"effects":[49],"improve":[51],"tracking":[53,163,173],"accuracy":[54,164],"by":[55,97,142,166,186,200],"using":[56,187],"law":[60],"switching":[63,119,145,169],"gain":[64,120,170],"RL-based":[67],"robust":[68,151],"term":[69,152],"handle":[71],"inputs.":[74],"In":[75],"SCSMC,":[76],"complicated":[78],"multiple-input-multiple-output":[79],"(MIMO)":[80],"uncertain":[81],"system":[82],"FSRM":[84],"is":[85,110,156,198],"transformed":[86],"into":[87],"multiple":[88],"single-input-single-output":[89],"(SISO)":[90],"known":[91],"subsystems":[92],"with":[93,181],"bounded":[94],"errors":[96,174],"TDE":[99],"technique":[100],"state":[102],"feedback":[103],"compensation.":[104],"Subsequently,":[105],"once":[106],"variable":[109],"inside":[111],"designed":[113,157],"manifold,":[114],"derivative":[116],"each":[122,154],"subsystem":[123,155],"becomes":[124],"negative":[126],"hyperbolic":[127],"tangent":[128],"function":[129],"associated":[132],"variable,":[134],"which":[135],"offers":[136],"ability":[138],"reduce":[140],"decreasing":[143],"gain.":[146],"Moreover,":[147],"RL":[149],"based":[150],"avoid":[159],"loss":[161],"caused":[165],"aforementioned":[168],"drop.":[171],"are":[175],"proven":[176],"be":[178],"uniformly-ultimately-bounded":[179],"(UUB)":[180],"an":[182],"arbitrarily":[183],"bound":[185],"Lyapunov":[189],"theory.":[190],"effectiveness":[192],"verified":[199],"numerical":[201],"simulations.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-04T09:04:59.091469","created_date":"2025-10-10T00:00:00"}