{"id":"https://openalex.org/W4312527347","doi":"https://doi.org/10.1109/access.2022.3232555","title":"TDE-Based Adaptive Super-Twisting Multivariable Fast Terminal Slide Mode Control for Cable-Driven Manipulators With Safety Constraint of Error","display_name":"TDE-Based Adaptive Super-Twisting Multivariable Fast Terminal Slide Mode Control for Cable-Driven Manipulators With Safety Constraint of Error","publication_year":2022,"publication_date":"2022-12-26","ids":{"openalex":"https://openalex.org/W4312527347","doi":"https://doi.org/10.1109/access.2022.3232555"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3232555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3232555","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/09999418.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/ielx7/6287639/10005208/09999418.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102024981","display_name":"Lijun Li","orcid":"https://orcid.org/0000-0002-2469-4778"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lijun Li","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083466038","display_name":"Yanxu Su","orcid":"https://orcid.org/0000-0003-1996-0143"},"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":"Yanxu Su","raw_affiliation_strings":["School of Artificial Intelligence, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109594061","display_name":"Lingyue Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyue Kong","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112041838","display_name":"Kun Jiang","orcid":"https://orcid.org/0000-0002-5017-9139"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Jiang","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080737555","display_name":"Yingjiang Zhou","orcid":"https://orcid.org/0000-0002-4481-3746"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjiang Zhou","raw_affiliation_strings":["College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102024981"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4819,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62921698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"11","issue":null,"first_page":"6656","last_page":"6664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9979000091552734,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9979000091552734,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9944000244140625,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.992900013923645,"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/multivariable-calculus","display_name":"Multivariable calculus","score":0.7976651787757874},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7455440759658813},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6601563692092896},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.6238764524459839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5851168632507324},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.46893954277038574},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.4566674530506134},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43728840351104736},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3125790059566498},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.30121272802352905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2908439636230469},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21424320340156555},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12112390995025635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10415750741958618},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08916884660720825}],"concepts":[{"id":"https://openalex.org/C117312493","wikidata":"https://www.wikidata.org/wiki/Q2035437","display_name":"Multivariable calculus","level":2,"score":0.7976651787757874},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7455440759658813},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6601563692092896},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.6238764524459839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5851168632507324},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.46893954277038574},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.4566674530506134},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43728840351104736},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3125790059566498},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.30121272802352905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2908439636230469},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21424320340156555},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12112390995025635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10415750741958618},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08916884660720825},{"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/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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3232555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3232555","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/09999418.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:06bc1aa5c8bb400db4ff42c14daff0f8","is_oa":true,"landing_page_url":"https://doaj.org/article/06bc1aa5c8bb400db4ff42c14daff0f8","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 6656-6664 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3232555","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3232555","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/09999418.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":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312527347.pdf","grobid_xml":"https://content.openalex.org/works/W4312527347.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W426626709","https://openalex.org/W579585449","https://openalex.org/W1755613887","https://openalex.org/W1986024064","https://openalex.org/W2020364587","https://openalex.org/W2043440326","https://openalex.org/W2074465517","https://openalex.org/W2076955482","https://openalex.org/W2109239614","https://openalex.org/W2126814366","https://openalex.org/W2158121031","https://openalex.org/W2167054844","https://openalex.org/W2233870490","https://openalex.org/W2245746190","https://openalex.org/W2308951214","https://openalex.org/W2343067029","https://openalex.org/W2533599559","https://openalex.org/W2564095708","https://openalex.org/W2579282996","https://openalex.org/W2598008934","https://openalex.org/W2601529191","https://openalex.org/W2602009451","https://openalex.org/W2608224837","https://openalex.org/W2619295113","https://openalex.org/W2641223160","https://openalex.org/W2729047699","https://openalex.org/W2733817478","https://openalex.org/W2740618147","https://openalex.org/W2757610031","https://openalex.org/W2770453975","https://openalex.org/W2782608458","https://openalex.org/W2790129124","https://openalex.org/W2792903075","https://openalex.org/W2801984431","https://openalex.org/W2808519916","https://openalex.org/W2896033043","https://openalex.org/W2896906473","https://openalex.org/W2906172613","https://openalex.org/W2918867912","https://openalex.org/W2938261389","https://openalex.org/W2973218311","https://openalex.org/W2973714986","https://openalex.org/W2998968733","https://openalex.org/W3045835030","https://openalex.org/W3082324969","https://openalex.org/W3118856652","https://openalex.org/W3132795731","https://openalex.org/W3168397864","https://openalex.org/W4206677578","https://openalex.org/W7000058673"],"related_works":["https://openalex.org/W1497222032","https://openalex.org/W1978568405","https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W1995636945","https://openalex.org/W4214925198"],"abstract_inverted_index":{"An":[0],"adaptive":[1,143,183],"super-twisting":[2,142],"multivariable":[3],"fast":[4],"terminal":[5,186],"sliding":[6,187],"mode":[7,188],"control":[8,27,36,144,167,189],"scheme":[9,190],"based":[10],"on":[11],"time":[12],"delay":[13],"estimation":[14],"(TDE)":[15],"and":[16,47,83,91,134,149,161,178,195],"asymmetric":[17,46],"error":[18,51],"constraints":[19,111,133,158],"are":[20,45,89,191],"proposed":[21,182],"to":[22,58,116],"guarantee":[23],"high-precision":[24],"trajectory":[25],"tracking":[26],"of":[28,53,63,80,100,112,126,152,164,180],"cable-driven":[29],"manipulators":[30],"under":[31],"complicated":[32],"unknown":[33],"uncertainties.":[34],"The":[35,141],"system":[37,87,122,168],"is":[38,56,71,136,169],"constrained":[39],"by":[40,193],"joint":[41,65],"position":[42,66],"errors,":[43],"which":[44],"time-varying.":[48],"First,":[49],"the":[50,54,61,64,68,77,81,84,97,101,110,124,153,162,165,172,176,181],"range":[52],"joints":[55],"designed":[57],"ensure":[59],"that":[60],"deviation":[62],"from":[67],"desired":[69],"profile":[70],"not":[72],"too":[73],"large":[74],"while":[75],"ensuring":[76],"safety":[78,106],"performance":[79],"manipulator,":[82],"remaining":[85],"set-total":[86],"dynamics":[88],"estimated":[90],"compensated":[92],"using":[93,105,171],"time-delay":[94],"estimation.":[95],"Secondly,":[96],"design":[98],"analysis":[99],"angular":[102],"false":[103],"expectation":[104],"constraint":[107],"functions":[108],"allows":[109],"different":[113],"cross":[114],"sections":[115],"be":[117],"handled":[118],"in":[119,155,159,197],"a":[120],"unified":[121],"architecture;":[123],"problem":[125],"robotic":[127],"arm":[128],"motion":[129],"trajectories":[130],"with":[131],"output":[132],"uncertainties":[135],"addressed":[137],"through":[138],"rigorous":[139],"analysis.":[140],"effectively":[145],"ensures":[146],"fast,":[147],"accurate":[148],"robust":[150],"convergence":[151],"algorithm":[154],"satisfying":[156],"all":[157],"operation,":[160],"stability":[163],"closed-loop":[166],"analyzed":[170],"Lyapunov":[173],"method.":[174],"Finally,":[175],"effectiveness":[177],"superiority":[179],"hyper-torsional":[184],"non-singular":[185],"verified":[192],"simulations":[194],"experiments":[196],"2-DOF.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}