{"id":"https://openalex.org/W7127625493","doi":"https://doi.org/10.1109/dese68208.2025.11367958","title":"A Hybrid Sliding Mode Control Approach for Enhancing Human-Robot Interaction","display_name":"A Hybrid Sliding Mode Control Approach for Enhancing Human-Robot Interaction","publication_year":2025,"publication_date":"2025-11-10","ids":{"openalex":"https://openalex.org/W7127625493","doi":"https://doi.org/10.1109/dese68208.2025.11367958"},"language":null,"primary_location":{"id":"doi:10.1109/dese68208.2025.11367958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dese68208.2025.11367958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 18th International Conference on Development in eSystem Engineering (DeSE)","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/A5074920599","display_name":"Yousif Al Mashhadany","orcid":"https://orcid.org/0000-0003-3943-8395"},"institutions":[{"id":"https://openalex.org/I27768575","display_name":"University of Anbar","ror":"https://ror.org/055a6gk50","country_code":"IQ","type":"education","lineage":["https://openalex.org/I27768575"]}],"countries":["IQ"],"is_corresponding":true,"raw_author_name":"Yousif Al Mashhadany","raw_affiliation_strings":["Biomedical Engineering Research Center, University of Anbar,Anbar,Iraq"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Research Center, University of Anbar,Anbar,Iraq","institution_ids":["https://openalex.org/I27768575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041560654","display_name":"Saif Aldeen Muqdad Naji","orcid":null},"institutions":[{"id":"https://openalex.org/I27768575","display_name":"University of Anbar","ror":"https://ror.org/055a6gk50","country_code":"IQ","type":"education","lineage":["https://openalex.org/I27768575"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Saif Aldeen Muqdad Naji","raw_affiliation_strings":["University of Anbar,Department of Civil Engineering,Anbar,Iraq"],"affiliations":[{"raw_affiliation_string":"University of Anbar,Department of Civil Engineering,Anbar,Iraq","institution_ids":["https://openalex.org/I27768575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107691831","display_name":"Raad Ahmed Asal","orcid":null},"institutions":[{"id":"https://openalex.org/I27768575","display_name":"University of Anbar","ror":"https://ror.org/055a6gk50","country_code":"IQ","type":"education","lineage":["https://openalex.org/I27768575"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Raad Ahmed Asal","raw_affiliation_strings":["University Headquarters, University of Anbar,Department of Construction and Projects,Anbar,Iraq"],"affiliations":[{"raw_affiliation_string":"University Headquarters, University of Anbar,Department of Construction and Projects,Anbar,Iraq","institution_ids":["https://openalex.org/I27768575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125070618","display_name":"Ali Amer Ahmed Alrawi","orcid":null},"institutions":[{"id":"https://openalex.org/I27768575","display_name":"University of Anbar","ror":"https://ror.org/055a6gk50","country_code":"IQ","type":"education","lineage":["https://openalex.org/I27768575"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Ali Amer Ahmed Alrawi","raw_affiliation_strings":["Biomedical Engineering Research Center, University of Anbar,Anbar,Iraq"],"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Research Center, University of Anbar,Anbar,Iraq","institution_ids":["https://openalex.org/I27768575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125062478","display_name":"Kasim M. Al-Aubidy","orcid":null},"institutions":[{"id":"https://openalex.org/I908820301","display_name":"Tishk International University","ror":"https://ror.org/03pbhyy22","country_code":"IQ","type":"education","lineage":["https://openalex.org/I908820301"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Kasim M. Al-Aubidy","raw_affiliation_strings":["Tishk International University,Mechatronics Department,Erbil,Iraq"],"affiliations":[{"raw_affiliation_string":"Tishk International University,Mechatronics Department,Erbil,Iraq","institution_ids":["https://openalex.org/I908820301"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125092738","display_name":"Sameer Algburi","orcid":null},"institutions":[{"id":"https://openalex.org/I102254642","display_name":"University of Kirkuk","ror":"https://ror.org/01pk8rb11","country_code":"IQ","type":"education","lineage":["https://openalex.org/I102254642"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Sameer Algburi","raw_affiliation_strings":["College of Engineering, Al-Kitab University,Kurkuk,Iraq"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Al-Kitab University,Kurkuk,Iraq","institution_ids":["https://openalex.org/I102254642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5074920599"],"corresponding_institution_ids":["https://openalex.org/I27768575"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71806056,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"492","last_page":"497"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.32499998807907104,"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":0.32499998807907104,"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":0.25679999589920044,"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/T10982","display_name":"Motor Control and Adaptation","score":0.19589999318122864,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8449000120162964},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5685999989509583},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5455999970436096},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4952999949455261},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46619999408721924},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4643000066280365},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.44600000977516174},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.3901999890804291},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.36419999599456787}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8449000120162964},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5685999989509583},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5455999970436096},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4952999949455261},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46619999408721924},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4643000066280365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46129998564720154},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.44600000977516174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41019999980926514},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.3901999890804291},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.36419999599456787},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.3617999851703644},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.35659998655319214},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3492000102996826},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.32190001010894775},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.31940001249313354},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.2904999852180481},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29019999504089355},{"id":"https://openalex.org/C2777868790","wikidata":"https://www.wikidata.org/wiki/Q4045956","display_name":"Skyhook","level":4,"score":0.2892000079154968},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.2854999899864197},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.28360000252723694},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27410000562667847},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/dese68208.2025.11367958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dese68208.2025.11367958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 18th International Conference on Development in eSystem Engineering (DeSE)","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":31,"referenced_works":["https://openalex.org/W2050228798","https://openalex.org/W2144089363","https://openalex.org/W2462566782","https://openalex.org/W2546913570","https://openalex.org/W2771654634","https://openalex.org/W2991533550","https://openalex.org/W3019487747","https://openalex.org/W3019829624","https://openalex.org/W3027451895","https://openalex.org/W3030727486","https://openalex.org/W3083624737","https://openalex.org/W3087945948","https://openalex.org/W3088692940","https://openalex.org/W3110660269","https://openalex.org/W3138374786","https://openalex.org/W3210946272","https://openalex.org/W4214807593","https://openalex.org/W4283827390","https://openalex.org/W4298012222","https://openalex.org/W4304892383","https://openalex.org/W4311598185","https://openalex.org/W4312985571","https://openalex.org/W4362465220","https://openalex.org/W4378831278","https://openalex.org/W4385626613","https://openalex.org/W4385626624","https://openalex.org/W4391806844","https://openalex.org/W4393035569","https://openalex.org/W4399373709","https://openalex.org/W4399574529","https://openalex.org/W4410312702"],"related_works":[],"abstract_inverted_index":{"Humanoid":[0],"systems":[1],"must":[2],"manage":[3],"model":[4],"uncertainty":[5],"and":[6,11,28,32,42,48,58,73,86,98,148,171],"sensor":[7],"noise":[8],"safely,":[9],"smoothly,":[10],"accurately.":[12],"Conventional":[13],"sliding-mode":[14],"control":[15,34,111,153],"is":[16],"robust,":[17],"but":[18,37,54],"high-frequency":[19],"switching":[20,94],"causes":[21],"chattering,":[22,53,157],"force":[23,99,116,169],"spikes":[24],"upon":[25],"contact":[26,84,115,128],"onset,":[27],"actuator":[29],"stress.":[30],"Impedance":[31],"admittance":[33],"improve":[35],"comfort":[36],"challenge":[38],"with":[39,55,165],"modeling":[40],"errors":[41,100],"tracking":[43,138],"precision.":[44],"Higher-order":[45],"sliding":[46,72,110],"modes":[47],"extensive":[49],"filtering":[50],"can":[51],"reduce":[52],"increased":[56],"complexity":[57],"computation.":[59],"This":[60],"study":[61],"provides":[62,105],"a":[63,87],"Hybrid":[64],"Sliding-Mode":[65],"Controller":[66],"that":[67,91],"reduces":[68,133],"chattering":[69],"using":[70],"forceaware":[71],"boundary":[74],"layer":[75],"saturation.":[76],"It":[77],"has":[78],"an":[79,121],"admittance/force":[80],"estimator":[81],"for":[82],"stable":[83],"transitions":[85],"fuzzy":[88],"gain":[89,95],"scheduler":[90],"only":[92],"increases":[93],"when":[96],"motion":[97],"grow.":[101],"The":[102],"proposed":[103,131],"approach":[104],"the":[106,130,152],"robustness":[107],"of":[108,151],"conventional":[109],"while":[112],"offering":[113],"direct":[114],"control.":[117],"Lyapunov-based":[118],"analysis":[119],"in":[120],"adjustable":[122],"region":[123],"confirms":[124],"ultimate":[125],"boundedness.":[126],"In":[127],"simulations,":[129],"controller":[132],"(Root":[134],"Mean":[135],"Square)":[136],"RMS":[137],"error":[139,145],"by":[140,146,158],"88.0%,":[141],"steady-state":[142],"mean":[143],"absolute":[144],"89.7%,":[147],"total":[149],"variation":[150],"signal,":[154],"which":[155],"indicates":[156],"86.1%.":[159],"Results":[160],"suggest":[161],"improved":[162],"human-robot":[163],"collaboration":[164],"smoother":[166],"interaction,":[167],"reduced":[168],"overshoot,":[170],"realistic":[172],"real-time":[173],"applications.":[174]},"counts_by_year":[],"updated_date":"2026-02-07T06:11:34.122080","created_date":"2026-02-06T00:00:00"}
