{"id":"https://openalex.org/W3026353869","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095844","title":"Position Synchronization Control of a 3DoF Dual Arm Robotic Manipulator System using Integral Sliding Mode","display_name":"Position Synchronization Control of a 3DoF Dual Arm Robotic Manipulator System using Integral Sliding Mode","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3026353869","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095844","mag":"3026353869"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram47153.2019.9095844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5075684944","display_name":"Sumi Phukan","orcid":"https://orcid.org/0000-0003-4990-5356"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Sumi Phukan","raw_affiliation_strings":["Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Assam, India"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Assam, India","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112318474","display_name":"Chitralekha Mahanta","orcid":null},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Chitralekha Mahanta","raw_affiliation_strings":["Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Assam, India"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Assam, India","institution_ids":["https://openalex.org/I1317621060"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5075684944"],"corresponding_institution_ids":["https://openalex.org/I1317621060"],"apc_list":null,"apc_paid":null,"fwci":0.1679,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54311498,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"439","last_page":"444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9977999925613403,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9977999925613403,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9961000084877014,"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":0.9961000084877014,"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":0.8853948712348938},{"id":"https://openalex.org/keywords/synchronizing","display_name":"Synchronizing","score":0.8491061925888062},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.686235785484314},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6856239438056946},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.6479459404945374},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5596388578414917},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.49660831689834595},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4815542995929718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47923973202705383},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.47736856341362},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4658077359199524},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4596305787563324},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4284914433956146},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.41224730014801025},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3586937189102173},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3566875457763672},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14425724744796753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10451209545135498},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07795289158821106},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06604763865470886}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8853948712348938},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.8491061925888062},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.686235785484314},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6856239438056946},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.6479459404945374},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5596388578414917},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.49660831689834595},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4815542995929718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47923973202705383},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.47736856341362},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4658077359199524},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4596305787563324},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4284914433956146},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.41224730014801025},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3586937189102173},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3566875457763672},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14425724744796753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10451209545135498},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07795289158821106},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06604763865470886},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram47153.2019.9095844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W190584206","https://openalex.org/W1979692063","https://openalex.org/W1992644422","https://openalex.org/W1992813684","https://openalex.org/W2046241383","https://openalex.org/W2051526898","https://openalex.org/W2055015486","https://openalex.org/W2085262409","https://openalex.org/W2103676119","https://openalex.org/W2104200789","https://openalex.org/W2111629263","https://openalex.org/W2113775715","https://openalex.org/W2130351752","https://openalex.org/W2130374387","https://openalex.org/W2150138180","https://openalex.org/W2152182810","https://openalex.org/W2155062174","https://openalex.org/W2161636262","https://openalex.org/W2316503291","https://openalex.org/W4213100547","https://openalex.org/W4230748214","https://openalex.org/W4232027764","https://openalex.org/W4236895009","https://openalex.org/W6607806448"],"related_works":["https://openalex.org/W2359328895","https://openalex.org/W2363535981","https://openalex.org/W2007402811","https://openalex.org/W2326762630","https://openalex.org/W56798981","https://openalex.org/W2353818446","https://openalex.org/W2144480502","https://openalex.org/W2104052960","https://openalex.org/W4285092812","https://openalex.org/W2905386296"],"abstract_inverted_index":{"An":[0],"integral":[1,38],"sliding":[2,39],"mode":[3,40],"controller":[4,21],"for":[5,94],"position":[6],"synchronization":[7],"of":[8,24,28,75,88,103],"dual":[9,91],"arm":[10,92],"robotic":[11],"manipulator":[12],"systems":[13],"is":[14,22,64,79],"proposed":[15,20],"in":[16],"this":[17,104],"paper.":[18],"The":[19,37,72],"capable":[23],"synchronizing":[25],"the":[26,30,33,42,53,61,76,99],"movement":[27],"both":[29],"arms":[31],"following":[32],"same":[34],"desired":[35,97],"trajectory.":[36],"eliminates":[41],"reaching":[43],"phase":[44],"and":[45,101],"guarantees":[46],"insensitiveness":[47],"to":[48,58],"lumped":[49],"system":[50,55,78],"uncertainties":[51],"during":[52],"entire":[54],"response.":[56],"Further,":[57],"reduce":[59],"chattering,":[60],"switching":[62],"element":[63],"smoothened":[65],"by":[66],"using":[67],"a":[68,89,96],"low":[69],"pass":[70],"filter.":[71],"asymptotic":[73],"stability":[74,83],"controlled":[77],"proved":[80],"via":[81],"Lyapunov":[82],"analysis.":[84],"Through":[85],"simulation":[86],"study":[87],"3doF":[90],"robot":[93],"tracking":[95],"trajectory,":[98],"feasibility":[100],"validity":[102],"control":[105],"strategy":[106],"are":[107],"verified.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
