{"id":"https://openalex.org/W3217627814","doi":"https://doi.org/10.1109/access.2021.3129835","title":"Impedance-Sliding Mode Control With Force Constraints for Space Robots Capturing Non-Cooperative Objects","display_name":"Impedance-Sliding Mode Control With Force Constraints for Space Robots Capturing Non-Cooperative Objects","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3217627814","doi":"https://doi.org/10.1109/access.2021.3129835","mag":"3217627814"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3129835","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3129835","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09623532.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/ielx7/6287639/6514899/09623532.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100753297","display_name":"Tao Dong","orcid":"https://orcid.org/0000-0002-6959-5394"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210117825","display_name":"Beijing Research Institute of Mechanical and Electrical Technology","ror":"https://ror.org/02bjnsn63","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210117825"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Tao","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China and Beijing Institute of Control Engineering, Beijing 100094, China. (e-mail: taodong_bice@163.com)","School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China","Beijing Institute of Control Engineering, Beijing 100094, China"],"raw_orcid":"https://orcid.org/0000-0002-6959-5394","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China and Beijing Institute of Control Engineering, Beijing 100094, China. (e-mail: taodong_bice@163.com)","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210117825"]},{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Beijing Institute of Control Engineering, Beijing 100094, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381901","display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0002-2418-4428"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiang Zhang","raw_affiliation_strings":["Beijing Institute of Control Engineering, Beijing 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, Beijing 100094, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102028168","display_name":"Xiaoyu Chu","orcid":"https://orcid.org/0000-0002-1890-9138"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoyu Chu","raw_affiliation_strings":["Beijing Institute of Control Engineering, Beijing 100094, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, Beijing 100094, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054919059","display_name":"Xiaodong Zhou","orcid":"https://orcid.org/0000-0001-8171-7705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaodong Zhou","raw_affiliation_strings":["Beijing Institute of Control Engineering, Beijing 100094, China"],"raw_orcid":"https://orcid.org/0000-0001-8171-7705","affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, Beijing 100094, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011532647","display_name":"Liangyu Zhao","orcid":"https://orcid.org/0000-0003-4513-2528"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liangyu Zhao","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":"https://orcid.org/0000-0003-4513-2528","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"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":5.3838,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.9602747,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":null,"first_page":"160163","last_page":"160174"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10325","display_name":"Astro and Planetary Science","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9491000175476074,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6808659434318542},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6357846260070801},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5960506200790405},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5927038788795471},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5911058783531189},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5512493848800659},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5275556445121765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4596289396286011},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4529333710670471},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22591406106948853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22216489911079407},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.17936161160469055},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14604538679122925},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1324608325958252}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6808659434318542},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6357846260070801},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5960506200790405},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5927038788795471},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5911058783531189},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5512493848800659},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5275556445121765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4596289396286011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4529333710670471},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22591406106948853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22216489911079407},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.17936161160469055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14604538679122925},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1324608325958252},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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.2021.3129835","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3129835","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09623532.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:ff3b5842b04b4ad3ae824dff065029db","is_oa":true,"landing_page_url":"https://doaj.org/article/ff3b5842b04b4ad3ae824dff065029db","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 9, Pp 160163-160174 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3129835","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3129835","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09623532.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/G4574579367","display_name":null,"funder_award_id":"51805025","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G740119806","display_name":"\u5f39\u6027\u53d7\u63a7\u81ea\u65cb\u98de\u884c\u5668\u7684\u9525\u5f62\u8fd0\u52a8\u7a33\u5b9a\u6027\u7814\u7a76","funder_award_id":"12072027","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8470582752","display_name":null,"funder_award_id":"11532002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8525392827","display_name":null,"funder_award_id":"2018AAA0103004","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3217627814.pdf","grobid_xml":"https://content.openalex.org/works/W3217627814.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1967377907","https://openalex.org/W1999591203","https://openalex.org/W2013159194","https://openalex.org/W2025389731","https://openalex.org/W2045587239","https://openalex.org/W2059740384","https://openalex.org/W2087333369","https://openalex.org/W2090308161","https://openalex.org/W2128390401","https://openalex.org/W2129817003","https://openalex.org/W2134961671","https://openalex.org/W2319529595","https://openalex.org/W2461482723","https://openalex.org/W2529033990","https://openalex.org/W2599904823","https://openalex.org/W2734675588","https://openalex.org/W2763251106","https://openalex.org/W2782079765","https://openalex.org/W2791482769","https://openalex.org/W2798013953","https://openalex.org/W2800972624","https://openalex.org/W2802679510","https://openalex.org/W2810339791","https://openalex.org/W2884912355","https://openalex.org/W2985770712","https://openalex.org/W3033035110","https://openalex.org/W3087601964","https://openalex.org/W3123526999"],"related_works":["https://openalex.org/W2147346212","https://openalex.org/W2168933883","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1975719792"],"abstract_inverted_index":{"The":[0],"safe":[1],"realization":[2],"of":[3,11,54,123],"on-orbit":[4],"capture":[5,67,116],"remains":[6],"a":[7,39,69,75,105,108,117],"challenging":[8],"task":[9],"because":[10],"uncontrolled":[12],"service":[13],"objects,":[14],"big":[15],"impact":[16],"forces,":[17],"post-impact":[18],"control,":[19,38],"and":[20,33,61,74,95,120],"so":[21],"on.":[22],"In":[23],"this":[24],"study,":[25],"based":[26],"on":[27],"the":[28,31,47,51,66,82,90,121,124],"relationships":[29],"between":[30],"kinematics":[32],"forces":[34],"established":[35],"by":[36],"impedance":[37,73],"force":[40,49],"constraint":[41],"function":[42],"is":[43,78,113,127],"developed":[44],"to":[45,57,80,115],"reduce":[46],"contact":[48,60,88],"during":[50,65],"collision":[52],"process":[53],"capture.":[55],"Additionally,":[56],"realize":[58],"flexible":[59],"improve":[62],"motion":[63],"performance":[64],"process,":[68],"control":[70],"method":[71,126],"combining":[72],"sliding":[76],"mode":[77],"designed":[79],"make":[81],"end-effector":[83],"exhibit":[84],"mass-spring-damping":[85],"behavior":[86],"after":[87],"with":[89],"target,":[91,119],"decreasing":[92],"movement":[93],"overshoot":[94],"stabilization":[96],"time.":[97],"Finally,":[98],"numerical":[99],"simulations":[100],"are":[101],"carried":[102],"out":[103],"in":[104],"scenario":[106],"where":[107],"planar":[109],"two-link":[110],"space":[111],"robot":[112],"utilized":[114],"non-cooperative":[118],"effectiveness":[122],"proposed":[125],"demonstrated.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}
