{"id":"https://openalex.org/W4402219180","doi":"https://doi.org/10.1109/icrca60878.2024.10649343","title":"Fuzzy Adaptive Second Order Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulator","display_name":"Fuzzy Adaptive Second Order Terminal Sliding Mode Trajectory Tracking Control for Robotic Manipulator","publication_year":2024,"publication_date":"2024-01-12","ids":{"openalex":"https://openalex.org/W4402219180","doi":"https://doi.org/10.1109/icrca60878.2024.10649343"},"language":"en","primary_location":{"id":"doi:10.1109/icrca60878.2024.10649343","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icrca60878.2024.10649343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","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":null,"display_name":"Anding Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anding Xu","raw_affiliation_strings":["The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042664128","display_name":"Song Zhao","orcid":"https://orcid.org/0000-0001-6453-9214"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Zhao","raw_affiliation_strings":["The 21st Research Institute of China Electronics Technology,Planning Department,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 21st Research Institute of China Electronics Technology,Planning Department,Shanghai,China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102658021","display_name":"Huishen Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huishen Zhu","raw_affiliation_strings":["The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101106106","display_name":"Xunwei Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xunwei Wu","raw_affiliation_strings":["The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101504770","display_name":"Yuanbo Chen","orcid":"https://orcid.org/0000-0002-7006-2229"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanbo Chen","raw_affiliation_strings":["The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088928758","display_name":"Zheng Hu","orcid":"https://orcid.org/0000-0002-3526-0297"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Hu","raw_affiliation_strings":["The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The 21st Research Institute of China Electronics Technology,Robotics Engineering Center, Group Corporation,Shanghai,China","institution_ids":["https://openalex.org/I2800372957"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2800372957"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2019","issue":null,"first_page":"40","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9988999962806702,"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":0.9988999962806702,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.996399998664856,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9854999780654907,"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":0.7156431674957275},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7033345699310303},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.6358336806297302},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6263911724090576},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.5756627917289734},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5665729641914368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5283306837081909},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.515282154083252},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5118719935417175},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4936612546443939},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.44412729144096375},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44330620765686035},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4249315857887268},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39669087529182434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3488951027393341},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3053731322288513},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28210777044296265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24987798929214478},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11967533826828003},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11462089419364929}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7156431674957275},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7033345699310303},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.6358336806297302},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6263911724090576},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5756627917289734},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5665729641914368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5283306837081909},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.515282154083252},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5118719935417175},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4936612546443939},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.44412729144096375},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44330620765686035},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4249315857887268},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39669087529182434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3488951027393341},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3053731322288513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28210777044296265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24987798929214478},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11967533826828003},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11462089419364929},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icrca60878.2024.10649343","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icrca60878.2024.10649343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2337020052","https://openalex.org/W2546578181","https://openalex.org/W2769511588","https://openalex.org/W2779433322","https://openalex.org/W2791119367","https://openalex.org/W2911925989"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W4214925198","https://openalex.org/W1995636945","https://openalex.org/W2404840993","https://openalex.org/W2088371781","https://openalex.org/W1788310316"],"abstract_inverted_index":{"A":[0],"new":[1],"fuzzy":[2,80],"adaptive":[3,91],"second-order":[4,71],"terminal":[5],"sliding":[6,86],"mode":[7,87],"controller":[8],"(FASOTSMC)":[9],"is":[10,39,74,82,93,106,124],"designed":[11],"for":[12],"the":[13,47,59,65,77,111,120,131,136,141],"manipulator":[14,142],"system":[15,20,100,113],"with":[16,143],"external":[17,97],"disturbance":[18,98],"and":[19,32,68,90,99,102,149],"uncertainty,":[21,101],"in":[22,54,64,116,146],"order":[23,55],"to":[24,45,56,84,95,108],"achieve":[25],"fast":[26],"convergence":[27,48,115],"of":[28,42,50,140],"trajectory":[29,137],"tracking":[30,34,51,138],"error":[31],"ideal":[33],"accuracy.":[35],"Firstly,":[36],"nonlinear":[37],"hyperplane":[38,44],"used":[40,83,94,107],"instead":[41],"linear":[43],"improve":[46],"rate":[49],"error.":[52],"Secondly,":[53],"avoid":[57],"chattering,":[58],"discontinuous":[60],"terms":[61],"are":[62],"hidden":[63],"integral":[66],"symbol,":[67],"a":[69],"continuous":[70],"control":[72,112,132,139],"law":[73],"obtained.":[75],"At":[76],"same":[78],"time,":[79],"algorithm":[81,92,133],"determine":[85],"surface":[88],"parameters":[89],"compensate":[96],"Lyapunov":[103],"stability":[104],"theory":[105],"prove":[109],"that":[110,130],"has":[114],"finite":[117],"time.":[118],"Finally,":[119],"comparative":[121],"simulation":[122],"analysis":[123],"carried":[125],"out.":[126],"The":[127],"results":[128],"show":[129],"can":[134],"realize":[135],"high":[144],"precision":[145],"limited":[147],"time":[148],"complex":[150],"factors.":[151]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}