{"id":"https://openalex.org/W2774138594","doi":"https://doi.org/10.1109/iecon.2017.8216481","title":"Enhanced IBVS controller for a 6DOF manipulator using hybrid PD-SMC method","display_name":"Enhanced IBVS controller for a 6DOF manipulator using hybrid PD-SMC method","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2774138594","doi":"https://doi.org/10.1109/iecon.2017.8216481","mag":"2774138594"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2017.8216481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8216481","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","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/A5101626664","display_name":"Shutong Li","orcid":"https://orcid.org/0000-0003-3622-4324"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shutong Li","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085378824","display_name":"Wenfang Xie","orcid":"https://orcid.org/0000-0003-2449-6306"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wenfang Xie","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016203857","display_name":"Yanbin Gao","orcid":"https://orcid.org/0000-0001-8297-0358"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanbin Gao","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101626664"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":2.1642,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.87306122,"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":"2852","last_page":"2857"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.6365506052970886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5969022512435913},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5597149729728699},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5231867432594299},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31023257970809937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2993921637535095},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20735812187194824}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6365506052970886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5969022512435913},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5597149729728699},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5231867432594299},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31023257970809937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2993921637535095},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20735812187194824},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2017.8216481","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2017.8216481","pdf_url":null,"source":{"id":"https://openalex.org/S4363608531","display_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1487127700","https://openalex.org/W1524125192","https://openalex.org/W1525673530","https://openalex.org/W1971140104","https://openalex.org/W1995067233","https://openalex.org/W2020132746","https://openalex.org/W2050068573","https://openalex.org/W2062691475","https://openalex.org/W2069880888","https://openalex.org/W2079553629","https://openalex.org/W2082991751","https://openalex.org/W2105582660","https://openalex.org/W2109923237","https://openalex.org/W2111691855","https://openalex.org/W2118354411","https://openalex.org/W2138451191","https://openalex.org/W2166676471","https://openalex.org/W2167501464","https://openalex.org/W4252031641"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"The":[0,36,96],"accuracy":[1,29,121],"and":[2,62,69,90,110,122],"stability":[3,97],"are":[4],"two":[5],"fundamental":[6],"concerns":[7],"of":[8,30,55,98,124],"the":[9,28,52,99,115,120],"visual":[10,21,31],"servoing":[11,22,32],"control":[12,41,45,68],"system.":[13,128],"This":[14],"paper":[15],"presents":[16],"an":[17],"enhanced":[18,100],"image":[19],"based":[20],"(IBVS)":[23],"method":[24,102],"which":[25],"can":[26,118],"increase":[27,119],"with":[33,42,78],"guaranteed":[34],"stability.":[35],"proposed":[37,116],"controller":[38,117],"combines":[39],"PD":[40,67],"sliding":[43],"mode":[44],"(SMC)":[46],"for":[47],"a":[48,125],"6DOF":[49,126],"manipulator.":[50],"Specifically,":[51],"main":[53],"benefits":[54],"this":[56,84],"approach":[57,85],"lie":[58],"in":[59],"simple":[60],"structure":[61],"easy":[63],"implementation":[64],"due":[65,74],"to":[66,72,75],"good":[70],"robustness":[71,123],"uncertainties":[73],"SMC.":[76],"Compared":[77],"conventional":[79],"proportional":[80],"or":[81],"SMC":[82],"controller,":[83],"owns":[86],"faster":[87],"convergence":[88],"velocity,":[89],"better":[91],"global":[92],"disturbance":[93],"rejection":[94],"ability.":[95],"IBVS":[101],"is":[103],"proved":[104],"by":[105],"using":[106],"Lyapunov":[107],"method.":[108],"Simulation":[109],"experimental":[111],"results":[112],"show":[113],"that":[114],"robotic":[127]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}