{"id":"https://openalex.org/W2137286278","doi":"https://doi.org/10.1109/icsmc.2009.5346662","title":"Robust control for robot manipulators by using only joint position measurements","display_name":"Robust control for robot manipulators by using only joint position measurements","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2137286278","doi":"https://doi.org/10.1109/icsmc.2009.5346662","mag":"2137286278"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2009.5346662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2009.5346662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Systems, Man and Cybernetics","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/A5100772120","display_name":"Shafiqul Islam","orcid":"https://orcid.org/0000-0002-7724-4199"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Shafiqul Islam","raw_affiliation_strings":["Department of Systems and Computer Engineering, Carleton University, Ottawa, ONT, Canada","Dept. of Systems and Computer Eng., Carleton Univ., Ottawa, Ontario, CANADA, K1S 5B6"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Computer Engineering, Carleton University, Ottawa, ONT, Canada","institution_ids":["https://openalex.org/I67031392"]},{"raw_affiliation_string":"Dept. of Systems and Computer Eng., Carleton Univ., Ottawa, Ontario, CANADA, K1S 5B6","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100659849","display_name":"Peter Liu","orcid":"https://orcid.org/0000-0002-8703-6967"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Peter X. Liu","raw_affiliation_strings":["Department of Systems and Computer Engineering, Carleton University, Ottawa, ONT, Canada","Dept. of Systems and Computer Eng., Carleton Univ., Ottawa, Ontario, CANADA, K1S 5B6"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Computer Engineering, Carleton University, Ottawa, ONT, Canada","institution_ids":["https://openalex.org/I67031392"]},{"raw_affiliation_string":"Dept. of Systems and Computer Eng., Carleton Univ., Ottawa, Ontario, CANADA, K1S 5B6","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100772120"],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":null,"apc_paid":null,"fwci":3.8271,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93585314,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"6","issue":null,"first_page":"4013","last_page":"4018"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear 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/T11749","display_name":"Iterative Learning Control 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9977999925613403,"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":0.8525682091712952},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6024538278579712},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.576928436756134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5313606262207031},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5236936807632446},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.49277785420417786},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4870936870574951},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4830670952796936},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.47328871488571167},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4625387191772461},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46166661381721497},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.4600380063056946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45364663004875183},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43381398916244507},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.419695109128952},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.4178926348686218},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4157165586948395},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3028053045272827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28769904375076294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2289474904537201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16375747323036194},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15999487042427063}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8525682091712952},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6024538278579712},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.576928436756134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5313606262207031},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5236936807632446},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.49277785420417786},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4870936870574951},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4830670952796936},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.47328871488571167},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4625387191772461},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46166661381721497},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.4600380063056946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45364663004875183},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43381398916244507},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.419695109128952},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.4178926348686218},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4157165586948395},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3028053045272827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28769904375076294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2289474904537201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16375747323036194},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15999487042427063},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/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/icsmc.2009.5346662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2009.5346662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1519523450","https://openalex.org/W1592108905","https://openalex.org/W1608079750","https://openalex.org/W1998433008","https://openalex.org/W2002719795","https://openalex.org/W2025467394","https://openalex.org/W2029183630","https://openalex.org/W2034005720","https://openalex.org/W2035895226","https://openalex.org/W2058788632","https://openalex.org/W2101857399","https://openalex.org/W2102007130","https://openalex.org/W2106111936","https://openalex.org/W2128081723","https://openalex.org/W2139346587","https://openalex.org/W2153173318","https://openalex.org/W2154513594","https://openalex.org/W2156528877","https://openalex.org/W2157703339","https://openalex.org/W2157918371","https://openalex.org/W2163764169","https://openalex.org/W2471864227","https://openalex.org/W2569641373","https://openalex.org/W6682289486","https://openalex.org/W6720347575"],"related_works":["https://openalex.org/W2074717584","https://openalex.org/W3123253234","https://openalex.org/W2386766233","https://openalex.org/W1965449281","https://openalex.org/W2172163927","https://openalex.org/W2382591036","https://openalex.org/W2375429440","https://openalex.org/W3203301860","https://openalex.org/W2351775258","https://openalex.org/W2159111780"],"abstract_inverted_index":{"In":[0],"this":[1,48],"work,":[2],"we":[3,26],"propose":[4],"an":[5,43],"output":[6,44,72],"feedback":[7,45,73,83],"sliding":[8],"mode":[9],"control":[10],"(SMC)":[11],"method":[12,108],"for":[13,40],"trajectory":[14],"tracking":[15,69],"of":[16,47,100,122],"robotic":[17,116],"manipulators.":[18],"The":[19,106],"design":[20,27,50,74],"process":[21],"has":[22],"two":[23],"steps.":[24],"First,":[25],"a":[28,55,114],"stable":[29],"SMC":[30,49,85],"approach":[31],"by":[32],"assuming":[33],"that":[34,67],"all":[35,101],"state":[36,82],"variables":[37],"are":[38],"available":[39],"feedback.":[41],"Then,":[42],"version":[46],"is":[51,91,109],"presented":[52],"which":[53,93],"incorporates":[54],"model-free":[56],"linear":[57],"observer":[58],"to":[59,118],"estimate":[60],"unknown":[61],"velocity":[62],"signals.":[63,105],"We":[64],"then":[65],"show":[66],"the":[68,78,102,120,123],"performance":[70,79],"under":[71,81],"can":[75],"asymptotically":[76],"recover":[77],"achieved":[80],"based":[84],"design.":[86],"A":[87],"detailed":[88],"stability":[89],"analysis":[90],"given":[92],"shows":[94],"semi-global":[95],"uniform":[96],"ultimately":[97],"boundedness":[98],"property":[99],"closed":[103],"loop":[104],"proposed":[107],"implemented":[110],"and":[111],"evaluated":[112],"on":[113],"2-DOF":[115],"system":[117],"illustrate":[119],"effectiveness":[121],"theoretical":[124],"development.":[125]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}