{"id":"https://openalex.org/W1481667627","doi":"https://doi.org/10.1109/cca.2003.1223268","title":"Application of Proportional-Integral sliding mode tracking controller to robot manipulators","display_name":"Application of Proportional-Integral sliding mode tracking controller to robot manipulators","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W1481667627","doi":"https://doi.org/10.1109/cca.2003.1223268","mag":"1481667627"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2003.1223268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223268","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","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/A5050991529","display_name":"Mohammad Nazir Ahmad","orcid":"https://orcid.org/0000-0003-3639-1157"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"M.N. Ahmad","raw_affiliation_strings":["Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, Malaysia","Dept. of Mechatronics & Robotics, Univ. Teknologi Malaysia, Skudai, Malaysia"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, Malaysia","institution_ids":["https://openalex.org/I4576418"]},{"raw_affiliation_string":"Dept. of Mechatronics & Robotics, Univ. Teknologi Malaysia, Skudai, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072705692","display_name":"J.H.S. Osman","orcid":null},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"J.H.S. Osman","raw_affiliation_strings":["Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, Malaysia","Dept. of Mechatronics & Robotics, Univ. Teknologi Malaysia, Skudai, Malaysia"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, Malaysia","institution_ids":["https://openalex.org/I4576418"]},{"raw_affiliation_string":"Dept. of Mechatronics & Robotics, Univ. Teknologi Malaysia, Skudai, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050991529"],"corresponding_institution_ids":["https://openalex.org/I4576418"],"apc_list":null,"apc_paid":null,"fwci":1.7538,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.85082211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"87","last_page":"92"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987999796867371,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/control-theory","display_name":"Control theory (sociology)","score":0.8776107430458069},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7680831551551819},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.750380277633667},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6725820302963257},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5769184231758118},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5507078766822815},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.539196252822876},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5206262469291687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4722261428833008},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4717486798763275},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.43724310398101807},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4361691176891327},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4192018508911133},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3487064242362976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2885894775390625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14407649636268616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13050618767738342},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.122723788022995}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8776107430458069},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7680831551551819},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.750380277633667},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6725820302963257},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5769184231758118},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5507078766822815},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.539196252822876},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5206262469291687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4722261428833008},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4717486798763275},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43724310398101807},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4361691176891327},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4192018508911133},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3487064242362976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2885894775390625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14407649636268616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13050618767738342},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.122723788022995},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2003.1223268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223268","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.125.1208","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.125.1208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://eprints.utm.my/2000/1/article179.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323300","display_name":"Universiti Teknologi Malaysia","ror":"https://ror.org/026w31v75"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1516447630","https://openalex.org/W1557706094","https://openalex.org/W1960613717","https://openalex.org/W1990042683","https://openalex.org/W2004421225","https://openalex.org/W2074101165","https://openalex.org/W2117181723","https://openalex.org/W2157918371","https://openalex.org/W2545415114","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W6729058349"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W4292702743","https://openalex.org/W2726654316","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W2021587409","https://openalex.org/W4384821980","https://openalex.org/W2165744821","https://openalex.org/W1496250982","https://openalex.org/W2392286806"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,26,30,38,50,63,69,73,77],"development":[4],"of":[5,14,65],"a":[6,82],"proportional-integral":[7,56],"sliding":[8,19,57,78],"mode":[9,20,58],"controller":[10,21,46],"for":[11],"tracking":[12],"problem":[13],"robot":[15,85],"manipulators.":[16],"A":[17],"robust":[18],"is":[22,47,59,87],"derived":[23],"so":[24],"that":[25],"actual":[27],"trajectory":[28,32],"tracks":[29],"desired":[31],"as":[33,35],"closely":[34],"possible":[36],"despite":[37],"highly":[39],"nonlinear":[40],"and":[41,52,76],"coupled":[42],"dynamics.":[43],"The":[44,55],"proposed":[45],"designed":[48],"using":[49],"centralized":[51],"decentralized":[53],"approaches.":[54],"chosen":[60],"to":[61,81],"ensure":[62],"stability":[64],"overall":[66],"dynamics":[67],"during":[68],"entire":[70],"period,":[71],"i.e.,":[72],"reaching":[74],"phase":[75],"phase.":[79],"Application":[80],"two-link":[83],"planar":[84],"manipulator":[86],"considered.":[88]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}