{"id":"https://openalex.org/W4206524082","doi":"https://doi.org/10.1109/icsc50472.2021.9666520","title":"Sliding mode control for two wheeled inverted pendulum under terrain inclination and disturbances","display_name":"Sliding mode control for two wheeled inverted pendulum under terrain inclination and disturbances","publication_year":2021,"publication_date":"2021-11-24","ids":{"openalex":"https://openalex.org/W4206524082","doi":"https://doi.org/10.1109/icsc50472.2021.9666520"},"language":"en","primary_location":{"id":"doi:10.1109/icsc50472.2021.9666520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc50472.2021.9666520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 9th International Conference on Systems and Control (ICSC)","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/A5059225842","display_name":"Ines Jmel","orcid":null},"institutions":[{"id":"https://openalex.org/I166928557","display_name":"University of Monastir","ror":"https://ror.org/00nhtcg76","country_code":"TN","type":"education","lineage":["https://openalex.org/I166928557"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Ines Jmel","raw_affiliation_strings":["National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia","institution_ids":["https://openalex.org/I166928557"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042808897","display_name":"Habib Dimassi","orcid":"https://orcid.org/0000-0001-5919-9710"},"institutions":[{"id":"https://openalex.org/I166928557","display_name":"University of Monastir","ror":"https://ror.org/00nhtcg76","country_code":"TN","type":"education","lineage":["https://openalex.org/I166928557"]},{"id":"https://openalex.org/I8636806","display_name":"University of Sousse","ror":"https://ror.org/00dmpgj58","country_code":"TN","type":"education","lineage":["https://openalex.org/I8636806"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Habib Dimassi","raw_affiliation_strings":["Higher Institute of Applied Sciences and Technology, University of Sousse, Sousse, Tunisia","National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Higher Institute of Applied Sciences and Technology, University of Sousse, Sousse, Tunisia","institution_ids":["https://openalex.org/I8636806"]},{"raw_affiliation_string":"National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia","institution_ids":["https://openalex.org/I166928557"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075995787","display_name":"Salim Hadj-Said","orcid":null},"institutions":[{"id":"https://openalex.org/I166928557","display_name":"University of Monastir","ror":"https://ror.org/00nhtcg76","country_code":"TN","type":"education","lineage":["https://openalex.org/I166928557"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Salim Hadj-Said","raw_affiliation_strings":["National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia","institution_ids":["https://openalex.org/I166928557"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076892931","display_name":"Faouzi M\u2019Sahli","orcid":"https://orcid.org/0000-0001-8092-9298"},"institutions":[{"id":"https://openalex.org/I166928557","display_name":"University of Monastir","ror":"https://ror.org/00nhtcg76","country_code":"TN","type":"education","lineage":["https://openalex.org/I166928557"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Faouzi M'Sahli","raw_affiliation_strings":["National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National School of Engineering, LAS2E, University of Monastir, Monastir, Tunisia","institution_ids":["https://openalex.org/I166928557"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1389,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.49510398,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"467","last_page":"471"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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"}},"topics":[{"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9904999732971191,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.9476990103721619},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8221659660339355},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.664230227470398},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6066925525665283},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5894883871078491},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.5154348611831665},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4889151155948639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4509798586368561},{"id":"https://openalex.org/keywords/furuta-pendulum","display_name":"Furuta pendulum","score":0.4467235803604126},{"id":"https://openalex.org/keywords/inclined-plane","display_name":"Inclined plane","score":0.43107518553733826},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.4214934706687927},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4119792580604553},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3848128020763397},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2994149923324585},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.26550164818763733},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2085016965866089},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19839823246002197},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14705803990364075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11413651704788208},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07154116034507751}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.9476990103721619},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8221659660339355},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.664230227470398},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6066925525665283},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5894883871078491},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.5154348611831665},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4889151155948639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4509798586368561},{"id":"https://openalex.org/C191601290","wikidata":"https://www.wikidata.org/wiki/Q5509824","display_name":"Furuta pendulum","level":5,"score":0.4467235803604126},{"id":"https://openalex.org/C111808769","wikidata":"https://www.wikidata.org/wiki/Q161462","display_name":"Inclined plane","level":2,"score":0.43107518553733826},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.4214934706687927},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4119792580604553},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3848128020763397},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2994149923324585},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.26550164818763733},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2085016965866089},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19839823246002197},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14705803990364075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11413651704788208},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07154116034507751},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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/icsc50472.2021.9666520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsc50472.2021.9666520","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 9th International Conference on Systems and Control (ICSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2395314111","https://openalex.org/W2579403179","https://openalex.org/W2735993405","https://openalex.org/W2900313760","https://openalex.org/W2951213374","https://openalex.org/W3003683276","https://openalex.org/W3111598693","https://openalex.org/W6711937543"],"related_works":["https://openalex.org/W3216306759","https://openalex.org/W1994259330","https://openalex.org/W2380798744","https://openalex.org/W2655681456","https://openalex.org/W2041698009","https://openalex.org/W3017318039","https://openalex.org/W2082674070","https://openalex.org/W2967919033","https://openalex.org/W2333418779","https://openalex.org/W2241145642"],"abstract_inverted_index":{"A":[0],"robust":[1],"sliding":[2],"mode":[3],"controller":[4,83],"is":[5,43,69],"developed":[6,35],"for":[7],"the":[8,46,50,57,61,64,78,81,91],"tracking":[9],"control":[10],"of":[11,25,63,80,93],"two":[12,26,86],"wheeled":[13,27,87],"inverted":[14,28,88],"pendulum":[15,29,89],"subject":[16],"to":[17,38,55],"terrain":[18,96],"inclination":[19],"and":[20,95],"disturbances.":[21],"Firstly,":[22],"a":[23],"modeling":[24],"on":[30,45,85],"inclined":[31],"plane":[32],"has":[33],"been":[34],"without":[36],"referring":[37],"linearization.":[39],"Second,":[40],"our":[41],"method":[42],"founded":[44],"continuous":[47],"approximation":[48],"around":[49],"switching":[51],"surface":[52],"so":[53],"as":[54],"minimize":[56],"chattering":[58],"phenomenon.":[59],"Third,":[60],"proof":[62],"closed":[65],"loop":[66],"system":[67],"stability":[68],"illustrated":[70],"through":[71],"Lyapunov":[72],"analysis.":[73],"Finally,":[74],"numerical":[75],"simulations":[76],"emphasize":[77],"efficiency":[79],"designed":[82],"applied":[84],"in":[90],"presence":[92],"disturbances":[94],"inclination.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}