{"id":"https://openalex.org/W4385223395","doi":"https://doi.org/10.1109/access.2023.3298563","title":"Adaptive Back-Stepping Data-Driven Terminal Sliding-Mode Controller for Nonlinear MIMO Systems With Disturbance Observer","display_name":"Adaptive Back-Stepping Data-Driven Terminal Sliding-Mode Controller for Nonlinear MIMO Systems With Disturbance Observer","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4385223395","doi":"https://doi.org/10.1109/access.2023.3298563"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3298563","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298563","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10192416.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":null,"license_id":null,"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/ielx7/6287639/10005208/10192416.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082964872","display_name":"Sina Naderian","orcid":"https://orcid.org/0009-0008-4205-7407"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Sina Naderian","raw_affiliation_strings":["School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084539076","display_name":"Mohammad Farrokhi","orcid":"https://orcid.org/0000-0002-8431-4650"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Farrokhi","raw_affiliation_strings":["Center of Excellence for Modelling and Control of Complex Systems, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-8431-4650","affiliations":[{"raw_affiliation_string":"Center of Excellence for Modelling and Control of Complex Systems, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I67009956"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9814,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75360466,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"78059","last_page":"78073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.8637232184410095},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.7194061279296875},{"id":"https://openalex.org/keywords/mimo","display_name":"MIMO","score":0.6432865858078003},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6118704080581665},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.57565838098526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5671349167823792},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.5185466408729553},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5165242552757263},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49592551589012146},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.44473034143447876},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1021202802658081},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09020507335662842},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.08460146188735962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08166977763175964},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07728356122970581},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07467406988143921}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8637232184410095},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.7194061279296875},{"id":"https://openalex.org/C207987634","wikidata":"https://www.wikidata.org/wiki/Q176862","display_name":"MIMO","level":3,"score":0.6432865858078003},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6118704080581665},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.57565838098526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5671349167823792},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.5185466408729553},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5165242552757263},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49592551589012146},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.44473034143447876},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1021202802658081},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09020507335662842},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.08460146188735962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08166977763175964},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07728356122970581},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07467406988143921},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3298563","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298563","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10192416.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5a49dc8a83004ddca3d0fc58ab1cce58","is_oa":true,"landing_page_url":"https://doaj.org/article/5a49dc8a83004ddca3d0fc58ab1cce58","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 11, Pp 78059-78073 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3298563","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298563","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10192416.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385223395.pdf","grobid_xml":"https://content.openalex.org/works/W4385223395.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1841556254","https://openalex.org/W1953836885","https://openalex.org/W1990777642","https://openalex.org/W2040871222","https://openalex.org/W2113442785","https://openalex.org/W2466234988","https://openalex.org/W2559258875","https://openalex.org/W2607275455","https://openalex.org/W2730095629","https://openalex.org/W2738540918","https://openalex.org/W2749777304","https://openalex.org/W2780835704","https://openalex.org/W2783065791","https://openalex.org/W2792580928","https://openalex.org/W2804910732","https://openalex.org/W2809183352","https://openalex.org/W2896182355","https://openalex.org/W2905286581","https://openalex.org/W2911158912","https://openalex.org/W2913496611","https://openalex.org/W2913709584","https://openalex.org/W2943934954","https://openalex.org/W2968310610","https://openalex.org/W2985287061","https://openalex.org/W2987502048","https://openalex.org/W2996988642","https://openalex.org/W2999250585","https://openalex.org/W3000909096","https://openalex.org/W3011897101","https://openalex.org/W3020500201","https://openalex.org/W3028137943","https://openalex.org/W3046422130","https://openalex.org/W3091780093","https://openalex.org/W3117109164","https://openalex.org/W3131337173","https://openalex.org/W3157633667","https://openalex.org/W3178554613","https://openalex.org/W4200038771","https://openalex.org/W4210513963","https://openalex.org/W4210672359","https://openalex.org/W4210712261","https://openalex.org/W4249560056","https://openalex.org/W4285309593","https://openalex.org/W4304479610","https://openalex.org/W4312606238"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2108072532","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W1995636945","https://openalex.org/W4214925198","https://openalex.org/W1788310316"],"abstract_inverted_index":{"This":[0,121],"paper":[1],"presents":[2],"an":[3],"Adaptive":[4,161,167],"Back-stepping":[5],"Data-Driven":[6],"Terminal":[7],"Sliding":[8],"Mode":[9],"Controller":[10,163],"(ABDTSMC)":[11],"for":[12,91,112],"non-affine":[13],"MIMO":[14],"systems":[15],"with":[16,28,72,159],"general":[17],"disturbances":[18],"including":[19],"internal":[20],"uncertainties":[21,61],"and":[22,43,57,62,102,107,129,165],"external":[23],"disturbances.":[24,194],"The":[25,154,177],"proposed":[26,145,218],"controller":[27,168],"new":[29,109],"reaching":[30],"law":[31,111],"is":[32,75,79,105,119,147,186,199,209,221],"used":[33],"to":[34,49,58,124,149,213,223],"reduce":[35],"the":[36,40,45,51,54,60,64,82,92,95,100,108,113,125,135,142,144,180,183,190,196,204,217,224],"controller\u2019s":[37],"dependence":[38],"on":[39,69,99],"mathematical":[41],"model":[42],"eliminate":[44],"chattering":[46,197],"phenomenon.":[47],"Furthermore,":[48],"solve":[50],"problem":[52],"of":[53,127,134,141,182,192,206,216],"coupling":[55],"effect":[56],"estimate":[59],"disturbances,":[63],"Disturbance":[65],"Observer":[66],"(DOB)":[67],"based":[68,98],"neural":[70],"network":[71],"adaptive":[73,110],"weights":[74],"utilized.":[76],"Afterwards,":[77],"it":[78,220],"implied":[80],"that":[81],"DOB":[83],"variables":[84],"are":[85,157,171],"Uniformly":[86],"Ultimately":[87],"Bounded":[88],"(UUB).":[89],"Next,":[90],"integrated":[93],"controller,":[94,143,219],"closed-loop":[96,136],"stability":[97],"Lyapunov":[101],"back-stepping":[103],"theory":[104],"investigated":[106],"Pseudo":[114],"Jacobian":[115],"Matrix":[116],"(PJM)":[117],"elements":[118],"derived.":[120],"method":[122,146],"contributes":[123],"reduction":[126],"complexity":[128],"conservatism,":[130],"which":[131,170],"facilitates":[132],"analysis":[133],"stability.":[137],"To":[138],"evaluate":[139],"performance":[140],"applied":[148,222],"a":[150],"2-DOF":[151,225],"robot":[152],"manipulator.":[153,227],"simulation":[155],"results":[156,178],"compared":[158],"Model-Free":[160,166],"Sliding-Mode":[162],"(MFASMC)":[164],"(MFAC),":[169],"reported":[172],"recently":[173],"in":[174,189],"related":[175],"literature.":[176],"demonstrate":[179],"precision":[181],"tracking":[184],"capability":[185],"significantly":[187,210],"enhanced":[188],"presence":[191],"time-varying":[193],"Moreover,":[195],"phenomenon":[198],"successfully":[200],"removed.":[201],"In":[202],"addition,":[203],"number":[205],"required":[207],"data":[208],"reduced.":[211],"Finally,":[212],"show":[214],"practicality":[215],"laboratory":[226]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}