{"id":"https://openalex.org/W2005844804","doi":"https://doi.org/10.1109/coase.2012.6386400","title":"Observer-based trajectory tracking for a class of underactuated Lagrangian systems using higher-order sliding modes","display_name":"Observer-based trajectory tracking for a class of underactuated Lagrangian systems using higher-order sliding modes","publication_year":2012,"publication_date":"2012-08-01","ids":{"openalex":"https://openalex.org/W2005844804","doi":"https://doi.org/10.1109/coase.2012.6386400","mag":"2005844804"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2012.6386400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5005927677","display_name":"R.M.T. Raja Ismail","orcid":"https://orcid.org/0000-0002-2146-1450"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"R. M. T. Raja Ismail","raw_affiliation_strings":["Faculty of Engineering & IT, University of Technology Sydney, NSW, Australia","Faculty of Engineering and IT, University of Technology, Sydney, 15 Broadway, Ultimo, NSW 2007, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering & IT, University of Technology Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Faculty of Engineering and IT, University of Technology, Sydney, 15 Broadway, Ultimo, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108420855","display_name":"That Nguyen D.","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"That Nguyen D.","raw_affiliation_strings":["Faculty of Engineering & IT, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia","Faculty of Engineering and IT, University of Technology, Sydney, 15 Broadway, Ultimo, NSW 2007, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering & IT, University of Technology Sydney, 15 Broadway, Ultimo, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Faculty of Engineering and IT, University of Technology, Sydney, 15 Broadway, Ultimo, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069849643","display_name":"Q. P. Ha","orcid":"https://orcid.org/0000-0003-0978-1758"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Q. P. Ha","raw_affiliation_strings":["Faculty of Engineering & IT, University of Technology Sydney, NSW, Australia","Faculty of Engineering and IT, University of Technology, Sydney, 15 Broadway, Ultimo, NSW 2007, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering & IT, University of Technology Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Faculty of Engineering and IT, University of Technology, Sydney, 15 Broadway, Ultimo, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":2.7352,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8896253,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"35","issue":null,"first_page":"1204","last_page":"1209"},"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":0.9998999834060669,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.8866308927536011},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8327693939208984},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7295541763305664},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6869728565216064},{"id":"https://openalex.org/keywords/overhead-crane","display_name":"Overhead crane","score":0.611589252948761},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5884695649147034},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5447162389755249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48512277007102966},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.46209660172462463},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45243245363235474},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.40760281682014465},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32535475492477417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26562759280204773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.196766197681427},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15060555934906006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1242523193359375},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11130326986312866}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8866308927536011},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8327693939208984},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7295541763305664},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6869728565216064},{"id":"https://openalex.org/C2779279789","wikidata":"https://www.wikidata.org/wiki/Q1060390","display_name":"Overhead crane","level":2,"score":0.611589252948761},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5884695649147034},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5447162389755249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48512277007102966},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.46209660172462463},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45243245363235474},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.40760281682014465},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32535475492477417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26562759280204773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.196766197681427},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15060555934906006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1242523193359375},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11130326986312866},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2012.6386400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","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":23,"referenced_works":["https://openalex.org/W1508975269","https://openalex.org/W1552407991","https://openalex.org/W1972138032","https://openalex.org/W1999558720","https://openalex.org/W2001793560","https://openalex.org/W2002876660","https://openalex.org/W2018851823","https://openalex.org/W2023233398","https://openalex.org/W2030959268","https://openalex.org/W2033237781","https://openalex.org/W2050205901","https://openalex.org/W2059385844","https://openalex.org/W2097807513","https://openalex.org/W2098222446","https://openalex.org/W2110335893","https://openalex.org/W2119936308","https://openalex.org/W2128488622","https://openalex.org/W2135887162","https://openalex.org/W2136190052","https://openalex.org/W2142124312","https://openalex.org/W2150137810","https://openalex.org/W2161219984","https://openalex.org/W2564652662"],"related_works":["https://openalex.org/W3147756312","https://openalex.org/W3112982930","https://openalex.org/W2352209758","https://openalex.org/W1943136368","https://openalex.org/W2790201508","https://openalex.org/W2745168490","https://openalex.org/W2782225896","https://openalex.org/W2039681108","https://openalex.org/W2759865580","https://openalex.org/W2036418410"],"abstract_inverted_index":{"Trajectory":[0],"tracking":[1,13,51,92,118],"control":[2,28,38,54,95],"of":[3,15,27,39,42,55,75,84,127],"an":[4],"underactuated":[5,44],"mechanical":[6],"system":[7,18],"is":[8,30,70,96],"a":[9,40,56,85,113],"challenging":[10],"task":[11],"when":[12],"errors":[14,119],"all":[16],"the":[17,25,35,73,81,103,125],"coordinates":[19],"need":[20],"to":[21,49,62],"be":[22],"minimized,":[23],"while":[24],"number":[26],"inputs":[29],"limited.":[31],"This":[32],"paper":[33],"addresses":[34],"observer-based":[36,105],"multivariable":[37],"class":[41],"nonlinear,":[43],"Lagrangian":[45],"systems":[46],"with":[47,116],"application":[48],"trajectory":[50,91,115],"and":[52,93,120,130],"sway":[53],"3D":[57],"overhead":[58],"gantry":[59],"crane":[60],"subject":[61],"Coulomb":[63],"friction.":[64],"A":[65],"second-order":[66,86],"sliding":[67,82,87],"mode":[68,88],"observer":[69],"proposed":[71,104],"for":[72,90],"estimation":[74],"velocities.":[76],"Based":[77],"on":[78],"robust":[79],"estimates,":[80],"function":[83],"controller":[89,106],"anti-swing":[94],"proposed.":[97],"The":[98],"simulation":[99],"results":[100],"indicate":[101],"that":[102],"can":[107],"achieve":[108],"high":[109],"performance":[110],"in":[111],"following":[112],"pre-specified":[114],"minimum":[117],"swing":[121],"angle":[122],"suppression,":[123],"despite":[124],"presence":[126],"model":[128],"uncertainties":[129],"disturbances.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}