{"id":"https://openalex.org/W3046184033","doi":"https://doi.org/10.1109/access.2020.3012774","title":"H\u00f6lder Condition Based Design of Finite-Time Control Scheme for Underactuated Robotic System Under Time-Varying Disturbance","display_name":"H\u00f6lder Condition Based Design of Finite-Time Control Scheme for Underactuated Robotic System Under Time-Varying Disturbance","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3046184033","doi":"https://doi.org/10.1109/access.2020.3012774","mag":"3046184033"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3012774","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3012774","pdf_url":null,"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://doi.org/10.1109/access.2020.3012774","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069906827","display_name":"Yaobin Song","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148119","display_name":"Luliang University","ror":"https://ror.org/05495v729","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210148119"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yaobin Song","raw_affiliation_strings":["Department of Mining Engineering, Lvliang University, Lvliang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mining Engineering, Lvliang University, Lvliang, China","institution_ids":["https://openalex.org/I4210148119"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664491","display_name":"Hui Li","orcid":"https://orcid.org/0000-0001-5260-6264"},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]},{"id":"https://openalex.org/I4210148119","display_name":"Luliang University","ror":"https://ror.org/05495v729","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210148119"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Li","raw_affiliation_strings":["Department of Mining Engineering, Lvliang University, Lvliang, China","School of Mechanical Engineering, North University of China, Taiyuan, China"],"raw_orcid":"https://orcid.org/0000-0001-5260-6264","affiliations":[{"raw_affiliation_string":"Department of Mining Engineering, Lvliang University, Lvliang, China","institution_ids":["https://openalex.org/I4210148119"]},{"raw_affiliation_string":"School of Mechanical Engineering, North University of China, Taiyuan, China","institution_ids":["https://openalex.org/I135714990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070376523","display_name":"Xiaoling Shi","orcid":"https://orcid.org/0000-0002-9033-544X"},"institutions":[{"id":"https://openalex.org/I4210148119","display_name":"Luliang University","ror":"https://ror.org/05495v729","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210148119"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoling Shi","raw_affiliation_strings":["Department of Mining Engineering, Lvliang University, Lvliang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mining Engineering, Lvliang University, Lvliang, China","institution_ids":["https://openalex.org/I4210148119"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5069906827"],"corresponding_institution_ids":["https://openalex.org/I4210148119"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.1488,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44817007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"8","issue":null,"first_page":"142259","last_page":"142268"},"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":0.9965000152587891,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.993399977684021,"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":0.8478527665138245},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.772330641746521},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7226120233535767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6546679735183716},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5800196528434753},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5487842559814453},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.4835500419139862},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4799378514289856},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4650280177593231},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4369910955429077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41998153924942017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3196326196193695},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20151028037071228},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1594260036945343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1227908730506897}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8478527665138245},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.772330641746521},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7226120233535767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6546679735183716},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5800196528434753},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5487842559814453},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.4835500419139862},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4799378514289856},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4650280177593231},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4369910955429077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41998153924942017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3196326196193695},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20151028037071228},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1594260036945343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1227908730506897},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3012774","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3012774","pdf_url":null,"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:5f071accd70c4c698ee5ddd3a9ce5174","is_oa":true,"landing_page_url":"https://doaj.org/article/5f071accd70c4c698ee5ddd3a9ce5174","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 142259-142268 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3012774","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3012774","pdf_url":null,"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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W44941724","https://openalex.org/W2017048674","https://openalex.org/W2020362991","https://openalex.org/W2070155516","https://openalex.org/W2081851800","https://openalex.org/W2097214798","https://openalex.org/W2106698642","https://openalex.org/W2123285852","https://openalex.org/W2132411721","https://openalex.org/W2230652337","https://openalex.org/W2291931906","https://openalex.org/W2342648207","https://openalex.org/W2596073165","https://openalex.org/W2766558049","https://openalex.org/W2789351310","https://openalex.org/W2792581787","https://openalex.org/W2810603385","https://openalex.org/W2896362434","https://openalex.org/W2902863419","https://openalex.org/W2911725628","https://openalex.org/W2924119700","https://openalex.org/W2945620091","https://openalex.org/W2956309146","https://openalex.org/W2958749291","https://openalex.org/W2963086459","https://openalex.org/W2997683045","https://openalex.org/W3012429070"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W2123479323"],"abstract_inverted_index":{"Controlling":[0],"an":[1,5],"underactuated":[2],"robot":[3,13],"is":[4,89],"attractive":[6],"research":[7],"issue":[8],"as":[9],"some":[10],"of":[11,27,33,99,107],"the":[12,21,25,28,31,64,82,96,105,108],"joints":[14],"cannot":[15],"be":[16,75,92],"controlled":[17],"directly.":[18],"Besides,":[19,85],"facing":[20],"unknown":[22,68],"time-varying":[23,69],"disturbance,":[24],"nature":[26],"plant":[29],"makes":[30],"stability":[32],"such":[34],"uncertain":[35],"nonlinear":[36],"system":[37],"more":[38],"challenging.":[39],"This":[40],"work":[41],"presents":[42],"a":[43],"robust":[44],"finite-time":[45],"control":[46,59,87],"scheme":[47,88,110],"that":[48],"combines":[49],"H\u00f6lder":[50],"condition":[51],"based":[52],"extended":[53],"state":[54],"observer":[55],"and":[56,71,78,111,116],"sliding":[57],"mode":[58],"approach":[60],"to":[61,91,95],"cope":[62],"with":[63,120],"mentioned":[65],"issues.":[66],"The":[67],"disturbance":[70],"other":[72,121],"uncertainties":[73],"can":[74],"well":[76],"recognized":[77],"actively":[79],"compensated":[80],"under":[81],"proposed":[83,109],"scheme.":[84],"this":[86],"easy":[90],"implemented":[93],"due":[94],"small":[97],"amount":[98],"information":[100],"required.":[101],"Simulation":[102],"results":[103],"demonstrate":[104],"performance":[106],"validate":[112],"its":[113],"better":[114],"robustness":[115],"convergent":[117],"speed":[118],"compared":[119],"schemes.":[122]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2020-08-03T00:00:00"}