{"id":"https://openalex.org/W2981282702","doi":"https://doi.org/10.1109/aim.2019.8868534","title":"Model-Free Adaptive Integral Sliding Mode Control for 4-DOF Tower Crane Systems","display_name":"Model-Free Adaptive Integral Sliding Mode Control for 4-DOF Tower Crane Systems","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2981282702","doi":"https://doi.org/10.1109/aim.2019.8868534","mag":"2981282702"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME 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/A5041180540","display_name":"Menghua Zhang","orcid":"https://orcid.org/0000-0001-8588-3612"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Menghua Zhang","raw_affiliation_strings":["School of Electrical Engineering, University of Jinan, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, University of Jinan, Jinan, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101986040","display_name":"Yongfeng Zhang","orcid":"https://orcid.org/0009-0001-5524-2053"},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongfeng Zhang","raw_affiliation_strings":["School of Electrical Engineering, University of Jinan, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, University of Jinan, Jinan, China","institution_ids":["https://openalex.org/I34949971"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100543018","display_name":"Xingong Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I34949971","display_name":"University of Jinan","ror":"https://ror.org/02mjz6f26","country_code":"CN","type":"education","lineage":["https://openalex.org/I34949971"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingong Cheng","raw_affiliation_strings":["School of Electrical Engineering, University of Jinan, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, University of Jinan, Jinan, China","institution_ids":["https://openalex.org/I34949971"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041180540"],"corresponding_institution_ids":["https://openalex.org/I34949971"],"apc_list":null,"apc_paid":null,"fwci":0.4989,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.66256535,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"354","issue":null,"first_page":"708","last_page":"713"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T12206","display_name":"Vibration and Dynamic Analysis","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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9983000159263611,"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/control-theory","display_name":"Control theory (sociology)","score":0.8733965158462524},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8153668642044067},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.6606489419937134},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6462714672088623},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6367601752281189},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5672398209571838},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5564504265785217},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4971766769886017},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4818597733974457},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.42569640278816223},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.41232770681381226},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4041064381599426},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38144344091415405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37609195709228516},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23109698295593262},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16344308853149414},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11405482888221741},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07700109481811523}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8733965158462524},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8153668642044067},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.6606489419937134},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6462714672088623},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6367601752281189},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5672398209571838},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5564504265785217},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4971766769886017},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4818597733974457},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.42569640278816223},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.41232770681381226},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4041064381599426},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38144344091415405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37609195709228516},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23109698295593262},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16344308853149414},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11405482888221741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07700109481811523},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1967573527","https://openalex.org/W2005741317","https://openalex.org/W2027191849","https://openalex.org/W2039726930","https://openalex.org/W2072098591","https://openalex.org/W2076480290","https://openalex.org/W2077156923","https://openalex.org/W2088238695","https://openalex.org/W2098222446","https://openalex.org/W2106192787","https://openalex.org/W2116820740","https://openalex.org/W2131566376","https://openalex.org/W2299253112","https://openalex.org/W2474057198","https://openalex.org/W2507917832","https://openalex.org/W2597786134","https://openalex.org/W2608224837","https://openalex.org/W2611533758","https://openalex.org/W2736334925","https://openalex.org/W2744034682","https://openalex.org/W2757773541","https://openalex.org/W2765971590","https://openalex.org/W2768283293","https://openalex.org/W2789483412","https://openalex.org/W2791207539","https://openalex.org/W2794562906","https://openalex.org/W2898073748","https://openalex.org/W6735112846"],"related_works":["https://openalex.org/W2285922472","https://openalex.org/W2366076529","https://openalex.org/W1979692063","https://openalex.org/W4379743905","https://openalex.org/W4292702743","https://openalex.org/W2726654316","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W2021587409","https://openalex.org/W4384821980"],"abstract_inverted_index":{"An":[0],"adaptive":[1,42,49,126],"integral":[2,29],"sliding":[3,30,67],"mode":[4,31,68],"control":[5,32,43,69,154],"(AISMC)":[6],"method":[7,75],"with":[8],"payload":[9,61,98],"sway":[10],"reduction":[11],"is":[12,34,44,54,83,116],"presented":[13],"for":[14,119],"4-DOF":[15],"tower":[16],"cranes":[17],"in":[18],"this":[19],"paper.":[20],"The":[21],"designed":[22,121,158],"controller":[23,122],"consists":[24],"of":[25,92,108,110,156],"three":[26],"parts:":[27],"the":[28,38,41,48,51,60,72,78,93,97,100,103,106,111,113,120,125,138,143,152,157],"(ISMC)":[33],"used":[35],"to":[36,46,56,124,136,150],"provide":[37],"robust":[39],"behavior;":[40],"utilized":[45],"present":[47],"performance;":[50],"swing-damping":[52],"term":[53],"added":[55],"suppress":[57],"and":[58,85,130],"eliminate":[59],"swing":[62],"angles.":[63],"Different":[64],"from":[65],"existing":[66],"(SMC)":[70],"methods,":[71],"proposed":[73],"AISMC":[74],"doesn't":[76],"include":[77],"switching":[79],"action,":[80],"therefore,":[81],"it":[82],"continuous":[84],"chattering":[86],"free.":[87],"Moreover,":[88],"a":[89],"prior":[90],"knowledge":[91],"system":[94],"parameters":[95],"including":[96],"mass,":[99,102],"trolley":[101],"cable":[104],"length,":[105],"moment":[107],"inertia":[109],"jib,":[112],"friction-related":[114],"coefficients":[115],"not":[117],"required":[118],"thanks":[123],"control.":[127],"Lyapunov-based":[128],"analysis":[129],"LaSalle's":[131],"invariance":[132],"principle":[133],"are":[134,148],"employed":[135],"support":[137],"theoretical":[139],"derivations":[140],"without":[141],"linearizing":[142],"nonlinear":[144],"dynamics.":[145],"Experimental":[146],"results":[147],"illustrated":[149],"show":[151],"superior":[153],"performance":[155],"controller.":[159]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}