{"id":"https://openalex.org/W1997713256","doi":"https://doi.org/10.1109/etfa.2011.6059070","title":"Discrete time sliding mode control of robotic manipulators: Development and experimental validation","display_name":"Discrete time sliding mode control of robotic manipulators: Development and experimental validation","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W1997713256","doi":"https://doi.org/10.1109/etfa.2011.6059070","mag":"1997713256"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2011.6059070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2011.6059070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ETFA2011","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/A5059525110","display_name":"Valentino Fossi","orcid":null},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Valentino Fossi","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082539738","display_name":"Andrea Giantomassi","orcid":null},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Giantomassi","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016239622","display_name":"Gianluca Ippoliti","orcid":"https://orcid.org/0000-0003-3347-175X"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Ippoliti","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082166443","display_name":"Sauro Longhi","orcid":"https://orcid.org/0000-0002-1997-8098"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sauro Longhi","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034887896","display_name":"G. Orlando","orcid":"https://orcid.org/0000-0003-2375-1109"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Orlando","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dellAutomazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Gestionale e dell\u2019Automazione, Universit\u00e0 Politecnica delle Marche, Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033738698","display_name":"M.L. Corradini","orcid":"https://orcid.org/0000-0002-6143-3905"},"institutions":[{"id":"https://openalex.org/I112859197","display_name":"Universit\u00e0 di Camerino","ror":"https://ror.org/0005w8d69","country_code":"IT","type":"education","lineage":["https://openalex.org/I112859197"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maria Letizia Corradini","raw_affiliation_strings":["Dipartimento di Matematica e Informatica, Universit\u00e0 di Camerino, Camerino, Macerata, Italy","Dipartimento di Matematica e Informatica Universit\u00e0 di Camerino, via Madonna delle Carceri, 62032 Camerino (MC), Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Matematica e Informatica, Universit\u00e0 di Camerino, Camerino, Macerata, Italy","institution_ids":["https://openalex.org/I112859197"]},{"raw_affiliation_string":"Dipartimento di Matematica e Informatica Universit\u00e0 di Camerino, via Madonna delle Carceri, 62032 Camerino (MC), Italy","institution_ids":["https://openalex.org/I112859197"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5059525110"],"corresponding_institution_ids":["https://openalex.org/I122534668"],"apc_list":null,"apc_paid":null,"fwci":0.6566,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75032908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976000189781189,"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":0.8187280297279358},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.659283459186554},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6378852725028992},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5986651182174683},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5671114921569824},{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.5452530980110168},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5390495657920837},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5306177139282227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4968278706073761},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.487325519323349},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4787934720516205},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.46102485060691833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4375934898853302},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.43406885862350464},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42071789503097534},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.41278764605522156},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28794556856155396},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.262813925743103},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22269371151924133},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12776842713356018},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12194672226905823}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8187280297279358},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.659283459186554},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6378852725028992},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5986651182174683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5671114921569824},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.5452530980110168},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5390495657920837},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5306177139282227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4968278706073761},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.487325519323349},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4787934720516205},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.46102485060691833},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4375934898853302},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43406885862350464},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42071789503097534},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.41278764605522156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28794556856155396},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.262813925743103},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22269371151924133},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12776842713356018},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12194672226905823},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/etfa.2011.6059070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2011.6059070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ETFA2011","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.univpm.it:11566/63359","is_oa":false,"landing_page_url":"http://hdl.handle.net/11566/63359","pdf_url":null,"source":{"id":"https://openalex.org/S4306402571","display_name":"Universit\u00e0 Politecnica delle Marche (Universit\u00e0 Politecnica delle Marche)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122534668","host_organization_name":"Marche Polytechnic University","host_organization_lineage":["https://openalex.org/I122534668"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W46022419","https://openalex.org/W178056938","https://openalex.org/W1516289514","https://openalex.org/W1965324089","https://openalex.org/W1971718676","https://openalex.org/W1978281432","https://openalex.org/W2010075222","https://openalex.org/W2013624065","https://openalex.org/W2019574369","https://openalex.org/W2027247136","https://openalex.org/W2065677551","https://openalex.org/W2065927905","https://openalex.org/W2072895953","https://openalex.org/W2086100471","https://openalex.org/W2098498052","https://openalex.org/W2101136244","https://openalex.org/W2101230656","https://openalex.org/W2112538578","https://openalex.org/W2113265921","https://openalex.org/W2121101268","https://openalex.org/W2122512809","https://openalex.org/W2123163989","https://openalex.org/W2132441605","https://openalex.org/W2134668622","https://openalex.org/W2134968764","https://openalex.org/W2142036661","https://openalex.org/W2142053123","https://openalex.org/W2144804507","https://openalex.org/W2156734731","https://openalex.org/W2171900491","https://openalex.org/W2283952362","https://openalex.org/W2293807537","https://openalex.org/W2316112047","https://openalex.org/W3101250922","https://openalex.org/W4240172577","https://openalex.org/W6645099414","https://openalex.org/W6699261805"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2171218219","https://openalex.org/W1972271943","https://openalex.org/W2320550378","https://openalex.org/W2150410159","https://openalex.org/W2020144404","https://openalex.org/W1665280361","https://openalex.org/W1505280828"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"discrete-time":[4],"sliding":[5],"mode":[6],"control":[7,38],"based":[8],"on":[9,47],"prediction":[10],"compensation":[11],"of":[12,36,70],"uncertainties":[13,30],"for":[14],"planar":[15],"robotic":[16],"manipulators.":[17],"Autoregressive":[18],"models,":[19],"identified":[20],"on-line":[21],"by":[22],"Kalman":[23],"Filters,":[24],"are":[25],"used":[26],"to":[27],"learn":[28],"about":[29],"affecting":[31],"the":[32,37,43,48,55,68],"system.":[33],"The":[34],"analysis":[35],"stability":[39],"is":[40,45,65],"given":[41],"and":[42,63],"controller":[44,57],"evaluated":[46],"ERICC":[49],"robot":[50],"arm.":[51],"Experiments":[52],"show":[53],"that":[54],"proposed":[56],"produces":[58],"good":[59],"trajectory":[60],"tracking":[61],"performance":[62],"it":[64],"robust":[66],"in":[67],"presence":[69],"model":[71],"inaccuracies.":[72]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
