{"id":"https://openalex.org/W2141723131","doi":"https://doi.org/10.1109/cdc.2009.5400181","title":"Hybrid position/force sliding mode control of a class of robotic manipulators","display_name":"Hybrid position/force sliding mode control of a class of robotic manipulators","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2141723131","doi":"https://doi.org/10.1109/cdc.2009.5400181","mag":"2141723131"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2009.5400181","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5400181","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","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/A5041841830","display_name":"Ezio Bassi","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ezio Bassi","raw_affiliation_strings":["Department of Electrical Engineering, University of Pavia, Pavia, Italy","Department of Electrical Engineering, University of Pavia, 27100 Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Pavia, 27100 Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090417647","display_name":"Francesco Benzi","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Benzi","raw_affiliation_strings":["Department of Electrical Engineering, University of Pavia, Pavia, Italy","Department of Electrical Engineering, University of Pavia, 27100 Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Pavia, 27100 Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017882207","display_name":"Luca Massimiliano Capisani","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Massimiliano Capisani","raw_affiliation_strings":["Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","Dept. of Computer Engineering and Systems Science, University of Pavia, 27100, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Dept. of Computer Engineering and Systems Science, University of Pavia, 27100, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056532881","display_name":"Davide Cuppone","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Cuppone","raw_affiliation_strings":["Department of Electrical Engineering, University of Pavia, Pavia, Italy","Department of Electrical Engineering, University of Pavia, 27100 Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of Pavia, 27100 Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073649425","display_name":"Antonella Ferrara","orcid":"https://orcid.org/0000-0002-1977-8248"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonella Ferrara","raw_affiliation_strings":["Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","Dept. of Computer Engineering and Systems Science, University of Pavia, 27100, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Dept. of Computer Engineering and Systems Science, University of Pavia, 27100, Italy","institution_ids":["https://openalex.org/I25217355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5402,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.8656486,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2966","last_page":"2971"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7765243053436279},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6796755790710449},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6288726925849915},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6197720170021057},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5879592895507812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5821481943130493},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5453857183456421},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5301231741905212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4649898409843445},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4589473009109497},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.4382930397987366},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.43348491191864014},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4274039566516876},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4261448085308075},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.42357540130615234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37475430965423584},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.26893091201782227},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2575322985649109},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24862471222877502},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17088058590888977},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1322667896747589},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10775431990623474}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7765243053436279},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6796755790710449},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6288726925849915},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6197720170021057},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5879592895507812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5821481943130493},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5453857183456421},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5301231741905212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4649898409843445},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4589473009109497},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.4382930397987366},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.43348491191864014},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4274039566516876},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4261448085308075},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.42357540130615234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37475430965423584},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26893091201782227},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2575322985649109},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24862471222877502},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17088058590888977},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1322667896747589},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10775431990623474},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2009.5400181","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5400181","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","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":34,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1424654272","https://openalex.org/W1516289514","https://openalex.org/W1516447630","https://openalex.org/W1521785144","https://openalex.org/W1964511224","https://openalex.org/W1965324089","https://openalex.org/W2049514064","https://openalex.org/W2068563701","https://openalex.org/W2075641421","https://openalex.org/W2093324968","https://openalex.org/W2103120971","https://openalex.org/W2111018365","https://openalex.org/W2113265921","https://openalex.org/W2118218804","https://openalex.org/W2125674405","https://openalex.org/W2144351691","https://openalex.org/W2152857089","https://openalex.org/W2154722715","https://openalex.org/W2156195892","https://openalex.org/W2160279521","https://openalex.org/W2166211466","https://openalex.org/W2265937691","https://openalex.org/W2611243847","https://openalex.org/W4234812462","https://openalex.org/W4240172577","https://openalex.org/W4247582681","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W4300031234","https://openalex.org/W6631300751","https://openalex.org/W6641780247","https://openalex.org/W6667798297","https://openalex.org/W6981852111"],"related_works":["https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1984186897","https://openalex.org/W1976172674","https://openalex.org/W2971281932","https://openalex.org/W2124086581","https://openalex.org/W4210941726","https://openalex.org/W4242231179","https://openalex.org/W3016367173"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,133,163],"the":[4,16,25,29,36,39,53,59,62,69,75,85,88,127,138,142],"hybrid":[5,92],"position/force":[6,173],"control":[7,17,93,174],"of":[8,11,28,38,61,74,87,110,140],"a":[9,118,145,156],"class":[10],"robotic":[12],"manipulators.":[13],"To":[14],"perform":[15,45,117],"scheme":[18,94],"design,":[19],"it":[20],"is":[21,33,43,65,78],"necessary":[22],"to":[23,44,68,116,125,147],"characterize":[24],"dynamical":[26,72],"model":[27,73],"force":[30,48,98,167],"sensor":[31,76,168],"which":[32,55,64],"mounted":[34],"at":[35,58],"end-effector":[37],"robot.":[40,89],"The":[41,90],"objective":[42],"reliable":[46],"contact":[47],"measurements":[49],"by":[50,82,136,169],"estimating":[51],"all":[52],"forces":[54],"are":[56,153],"generated":[57],"level":[60],"tip":[63],"directly":[66],"connected":[67],"sensor.":[70],"A":[71],"motion":[77],"formulated":[79],"and":[80,97,103],"identified,":[81],"considering":[83],"also":[84,122],"kinematics":[86],"proposed":[91],"includes":[95],"position":[96],"controllers":[99,111],"based":[100],"on":[101,155],"first":[102],"second":[104],"order":[105],"sliding":[106],"modes.":[107],"These":[108],"kind":[109],"guarantee":[112],"suitable":[113],"robustness":[114],"properties":[115],"satisfactory":[119],"trajectory":[120],"tracking,":[121],"allowing":[123],"one":[124],"make":[126],"robot":[128,161],"move":[129],"in":[130],"an":[131,164],"environment":[132],"unknown":[134],"obstacles":[135,143],"using":[137],"possibility":[139],"touching":[141],"as":[144],"way":[146],"pass":[148],"them":[149],"by.":[150],"Experimental":[151],"tests":[152],"performed":[154],"COMAU":[157],"SMART3-S2":[158],"anthropomorphic":[159],"rigid":[160],"manipulator":[162],"ATI":[165],"Gamma":[166],"comparing":[170],"four":[171],"different":[172],"schemes.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
