{"id":"https://openalex.org/W3084110874","doi":"https://doi.org/10.1109/anzcc50923.2020.9318381","title":"Reduced Chatter Sliding Mode Control for Hydraulic Manipulators based on Continuous-Time State Dependent Parameter Models","display_name":"Reduced Chatter Sliding Mode Control for Hydraulic Manipulators based on Continuous-Time State Dependent Parameter Models","publication_year":2020,"publication_date":"2020-11-26","ids":{"openalex":"https://openalex.org/W3084110874","doi":"https://doi.org/10.1109/anzcc50923.2020.9318381","mag":"3084110874"},"language":"en","primary_location":{"id":"doi:10.1109/anzcc50923.2020.9318381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc50923.2020.9318381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 Australian and New Zealand Control Conference (ANZCC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.lancs.ac.uk/id/eprint/147177/1/20anzcc_smc_pp.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031268944","display_name":"Hamidreza Nemati","orcid":"https://orcid.org/0000-0002-5081-4630"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"H. Nemati","raw_affiliation_strings":["Lancaster University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lancaster University, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032099846","display_name":"Manuel Bandala","orcid":"https://orcid.org/0000-0002-4841-9260"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"M. Bandala","raw_affiliation_strings":["Lancaster University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lancaster University, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036750718","display_name":"Olivia Albrecht","orcid":null},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"O. L. R. Albrecht","raw_affiliation_strings":["Lancaster University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lancaster University, UK","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043355270","display_name":"C. James Taylor","orcid":"https://orcid.org/0000-0002-5247-5193"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"C. J. Taylor","raw_affiliation_strings":["Lancaster University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lancaster University, UK","institution_ids":["https://openalex.org/I67415387"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I67415387"],"apc_list":null,"apc_paid":null,"fwci":0.6035,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59244543,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"125","last_page":"130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9944999814033508,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9847000241279602,"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/control-theory","display_name":"Control theory (sociology)","score":0.8676249384880066},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6932399272918701},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5837957859039307},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5141168236732483},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.4862598180770874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4743025302886963},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.45715540647506714},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45047977566719055},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.43097344040870667},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3520125150680542},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2896957993507385},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27964845299720764},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24894532561302185},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19197064638137817},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.1156485378742218},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11446049809455872},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09287479519844055}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8676249384880066},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6932399272918701},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5837957859039307},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5141168236732483},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.4862598180770874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4743025302886963},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.45715540647506714},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45047977566719055},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.43097344040870667},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3520125150680542},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2896957993507385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27964845299720764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24894532561302185},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19197064638137817},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.1156485378742218},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11446049809455872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09287479519844055},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/anzcc50923.2020.9318381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/anzcc50923.2020.9318381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 Australian and New Zealand Control Conference (ANZCC)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lancs.ac.uk:147177","is_oa":true,"landing_page_url":"https://eprints.lancs.ac.uk/id/eprint/147177/1/20anzcc_smc_pp.pdf","pdf_url":"https://eprints.lancs.ac.uk/id/eprint/147177/1/20anzcc_smc_pp.pdf","source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Contribution in Book/Report/Proceedings"}],"best_oa_location":{"id":"pmh:oai:eprints.lancs.ac.uk:147177","is_oa":true,"landing_page_url":"https://eprints.lancs.ac.uk/id/eprint/147177/1/20anzcc_smc_pp.pdf","pdf_url":"https://eprints.lancs.ac.uk/id/eprint/147177/1/20anzcc_smc_pp.pdf","source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Contribution in Book/Report/Proceedings"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3084110874.pdf","grobid_xml":"https://content.openalex.org/works/W3084110874.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W329506564","https://openalex.org/W1919829389","https://openalex.org/W1967437677","https://openalex.org/W1988367613","https://openalex.org/W2039173699","https://openalex.org/W2106071123","https://openalex.org/W2110702780","https://openalex.org/W2136999497","https://openalex.org/W2278918481","https://openalex.org/W2467392579","https://openalex.org/W2473793771","https://openalex.org/W2507243473","https://openalex.org/W2518050114","https://openalex.org/W2524456220","https://openalex.org/W2607635190","https://openalex.org/W2784992980","https://openalex.org/W2793008599","https://openalex.org/W2810461391","https://openalex.org/W2894551547","https://openalex.org/W2897678478","https://openalex.org/W2898664120","https://openalex.org/W2900742918","https://openalex.org/W2903099067","https://openalex.org/W2910371385","https://openalex.org/W2943412383","https://openalex.org/W2948102761","https://openalex.org/W2971316892","https://openalex.org/W3088269627","https://openalex.org/W4235437821","https://openalex.org/W6721035570","https://openalex.org/W6756134087","https://openalex.org/W6767476528","https://openalex.org/W6783210523"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W4251428025","https://openalex.org/W3098928304","https://openalex.org/W4289867043","https://openalex.org/W2394883510","https://openalex.org/W2784467519","https://openalex.org/W1665280361","https://openalex.org/W1505280828","https://openalex.org/W2151481036","https://openalex.org/W2123479323"],"abstract_inverted_index":{"Sliding":[0],"Mode":[1],"Control":[2],"(SMC)":[3],"systems":[4],"are":[5,36],"developed":[6,70,95],"for":[7,55,96,126,163],"a":[8,46,60,68,85,134,148],"hydraulic":[9],"manipulator.":[10],"The":[11,92,104],"control":[12,150],"model":[13,34],"is":[14,51,59,76,82,94,179],"obtained":[15],"via":[16,84],"state-dependent":[17],"parameter":[18],"(SDP)":[19],"system":[20],"identification.":[21],"In":[22],"contrast":[23],"to":[24,72],"previous":[25],"research":[26,171],"using":[27],"discrete-time":[28],"SDP":[29],"models,":[30],"in":[31,78,131,167],"which":[32,79],"the":[33,39,42,80,89,109,117,127,139,145,160,173,176],"coefficients":[35],"functions":[37],"of":[38,88,108,121,147,165,175],"sampling":[40],"interval,":[41],"present":[43],"work":[44],"develops":[45],"new":[47,105,177],"continuous-time":[48],"approach.":[49],"It":[50],"well":[52],"known":[53],"that":[54,154],"conventional":[56,98],"SMC":[57,102,123,166],"there":[58],"trade-off":[61],"between":[62],"chattering":[63,114],"and":[64,99,115,156],"robust":[65],"performance.":[66],"Hence,":[67,152],"recently":[69],"approach":[71,93],"address":[73],"this":[74,132,168],"problem":[75],"investigated,":[77],"controller":[81,137],"designed":[83],"fractional":[86],"exponent":[87],"sliding":[90],"surface.":[91],"both":[97],"Nonsingular":[100],"Terminal":[101],"(NTSMC).":[103],"continuous":[106],"version":[107],"NTSMC":[110],"algorithm":[111,178],"successfully":[112],"reduces":[113],"provides":[116],"best":[118],"overall":[119],"performance":[120],"various":[122],"designs.":[124],"However,":[125],"preliminary":[128],"experiments":[129],"reported":[130],"article,":[133],"PID":[135],"lead-lag":[136],"yields":[138],"lowest":[140],"absolute":[141],"errors,":[142],"albeit":[143],"at":[144],"cost":[146],"higher":[149],"effort.":[151],"given":[153],"dead-zone":[155],"other":[157],"uncertainties":[158],"provide":[159],"main":[161],"motivation":[162],"use":[164],"application,":[169],"further":[170],"into":[172],"robustness":[174],"required.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-30T07:30:35.949966","created_date":"2025-10-10T00:00:00"}