{"id":"https://openalex.org/W2525517157","doi":"https://doi.org/10.1109/aim.2016.7576887","title":"Robust non-model-based sliding mode control for robot manipulator with unknown deadzone and disturbance using preselected tracking performance","display_name":"Robust non-model-based sliding mode control for robot manipulator with unknown deadzone and disturbance using preselected tracking performance","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2525517157","doi":"https://doi.org/10.1109/aim.2016.7576887","mag":"2525517157"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2016.7576887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576887","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024650894","display_name":"Seong-Ik Han","orcid":"https://orcid.org/0000-0002-9005-6870"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seongik Han","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091675174","display_name":"Hyunuk Ha","orcid":null},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunuk Ha","raw_affiliation_strings":["Pusan National University, Korea"],"affiliations":[{"raw_affiliation_string":"Pusan National University, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063531535","display_name":"Jang-Myung Lee","orcid":"https://orcid.org/0000-0003-4290-8087"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jangmyung Lee","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024650894"],"corresponding_institution_ids":["https://openalex.org/I4921948"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11659748,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"924","last_page":"929"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9994000196456909,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9962999820709229,"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/dead-zone","display_name":"Dead zone","score":0.9284635782241821},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8461112976074219},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5491823554039001},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5430952310562134},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5287731885910034},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.527419924736023},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5257540345191956},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49212878942489624},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4537307918071747},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4487173557281494},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43942713737487793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4381493330001831},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.43020862340927124},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4170699715614319},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.41128265857696533},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40969908237457275},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3632323145866394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2712714672088623},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.25455185770988464},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.19510716199874878},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17703881859779358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14962488412857056}],"concepts":[{"id":"https://openalex.org/C63840607","wikidata":"https://www.wikidata.org/wiki/Q1236263","display_name":"Dead zone","level":2,"score":0.9284635782241821},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8461112976074219},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5491823554039001},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5430952310562134},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5287731885910034},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.527419924736023},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5257540345191956},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49212878942489624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4537307918071747},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4487173557281494},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43942713737487793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4381493330001831},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.43020862340927124},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4170699715614319},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.41128265857696533},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40969908237457275},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3632323145866394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2712714672088623},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25455185770988464},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.19510716199874878},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17703881859779358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14962488412857056},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2016.7576887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576887","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1565170927","https://openalex.org/W2054500535","https://openalex.org/W2097121541","https://openalex.org/W2116490015","https://openalex.org/W2129275525","https://openalex.org/W2131137113","https://openalex.org/W2134668622","https://openalex.org/W2163780576"],"related_works":["https://openalex.org/W2152839317","https://openalex.org/W2789860620","https://openalex.org/W4255128480","https://openalex.org/W2518050114","https://openalex.org/W2784029343","https://openalex.org/W2123479323","https://openalex.org/W1583418636","https://openalex.org/W2898581360","https://openalex.org/W2102992329","https://openalex.org/W2678486179"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,75,85],"non-model-based":[4],"finite-time":[5,21],"sliding":[6],"mode":[7],"control":[8,58,72,87,108],"(SMC)":[9],"scheme":[10,88,109],"for":[11,110],"unknown":[12,64,79],"deadzone":[13,80,94],"and":[14,81,83,95,99],"disturbance":[15,82,96],"of":[16,50,56,105],"the":[17,32,103,106],"robotic":[18,113],"manipulator.":[19,114],"A":[20],"SMC":[22],"(FSMC)":[23],"is":[24,42],"designed":[25,91],"to":[26,62,74,77],"obtain":[27],"faster":[28],"error":[29],"convergence":[30],"than":[31],"conventional":[33],"infinite-time":[34],"based":[35],"SMC.":[36],"In":[37],"addition,":[38],"simpler":[39],"controller":[40],"structure":[41],"built":[43],"by":[44,68],"using":[45],"feed-forwarding":[46],"upper":[47],"bound":[48],"coefficients":[49],"each":[51],"manipulator":[52,65],"dynamic":[53],"parameters":[54],"instead":[55],"model-based":[57],"or":[59],"adaptive":[60],"observer":[61],"estimate":[63],"parameters.":[66],"Finally,":[67],"adding":[69],"preselected":[70],"constraint":[71],"term":[73],"FSMC":[76],"compensate":[78],"uncertainties,":[84],"robust":[86],"can":[89],"be":[90],"without":[92],"depending":[93],"estimations.":[97],"Simulation":[98],"experimental":[100],"evaluations":[101],"highlight":[102],"efficacy":[104],"proposed":[107],"an":[111],"articulated":[112]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
