{"id":"https://openalex.org/W2079795404","doi":"https://doi.org/10.1109/indin.2013.6622900","title":"Adaptive sliding mode control of switched constrained robotic manipulators","display_name":"Adaptive sliding mode control of switched constrained robotic manipulators","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2079795404","doi":"https://doi.org/10.1109/indin.2013.6622900","mag":"2079795404"},"language":"en","primary_location":{"id":"doi:10.1109/indin.2013.6622900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin.2013.6622900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","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":"https://openalex.org/A5113789202","display_name":"Ibrahim F. Jasim","orcid":null},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Ibrahim F. Jasim","raw_affiliation_strings":["Faculty of Science, Technology, and Communication, University of Luxembourg, Luxembourg","Fac. of Sci., Technol. & Commun., Univ. of Luxembourg, Luxembourg City, Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science, Technology, and Communication, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"Fac. of Sci., Technol. & Commun., Univ. of Luxembourg, Luxembourg City, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068617396","display_name":"Peter Plapper","orcid":"https://orcid.org/0000-0003-3507-1397"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Peter W. Plapper","raw_affiliation_strings":["Faculty of Science, Technology, and Communication, University of Luxembourg, Luxembourg","Fac. of Sci., Technol. & Commun., Univ. of Luxembourg, Luxembourg City, Luxembourg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science, Technology, and Communication, University of Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]},{"raw_affiliation_string":"Fac. of Sci., Technol. & Commun., Univ. of Luxembourg, Luxembourg City, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":null,"apc_paid":null,"fwci":1.872,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84368117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"305","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9894000291824341,"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":0.8001769185066223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.632162868976593},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.615670919418335},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5637778639793396},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5210309028625488},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5136594176292419},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.5049150586128235},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.48748779296875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4858800768852234},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46422693133354187},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4503164291381836},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.435874342918396},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41885942220687866},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40290501713752747},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1797770857810974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1310269832611084},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11019563674926758}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8001769185066223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.632162868976593},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.615670919418335},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5637778639793396},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5210309028625488},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5136594176292419},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.5049150586128235},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.48748779296875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4858800768852234},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46422693133354187},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4503164291381836},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.435874342918396},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41885942220687866},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40290501713752747},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1797770857810974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1310269832611084},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11019563674926758},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/indin.2013.6622900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin.2013.6622900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/7602","is_oa":false,"landing_page_url":"https://orbilu.uni.lu/handle/10993/7602","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2013 IEEE International Conference on Industrial Informatics, Bochum 28-30 July 2013. Piscataway, NJ: IEEE (2013).","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1483860898","https://openalex.org/W1509235676","https://openalex.org/W1552094772","https://openalex.org/W1968047062","https://openalex.org/W1972209047","https://openalex.org/W1984554218","https://openalex.org/W1994067443","https://openalex.org/W2016958754","https://openalex.org/W2048603489","https://openalex.org/W2065720856","https://openalex.org/W2066367730","https://openalex.org/W2083483041","https://openalex.org/W2093898644","https://openalex.org/W2106111936","https://openalex.org/W2107957546","https://openalex.org/W2113176808","https://openalex.org/W2123411906","https://openalex.org/W2139267874","https://openalex.org/W2150024155","https://openalex.org/W2153463567","https://openalex.org/W3144924457","https://openalex.org/W6629048306","https://openalex.org/W6988936685"],"related_works":["https://openalex.org/W2567391447","https://openalex.org/W2567520115","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W1505013685","https://openalex.org/W1551235345","https://openalex.org/W2344226335","https://openalex.org/W2055801945","https://openalex.org/W2148178391","https://openalex.org/W2139526495"],"abstract_inverted_index":{"In":[0,66,98],"this":[1,58],"paper,":[2],"we":[3,70,102],"address":[4],"the":[5,26,36,39,48,67,73,76,94,99,104,108,149,152,155],"control":[6,53,120,157],"problem":[7],"of":[8,38,75,93,106,154],"a":[9,23,29,136],"constrained":[10],"robotic":[11,64,96,139],"manipulators":[12],"with":[13],"their":[14],"constraints":[15,27,77,109],"continuously":[16],"switched":[17,63],"from":[18,148],"one":[19],"to":[20,32,60],"another.":[21],"Such":[22],"switching":[24,30,130,143],"in":[25,35,57],"causes":[28],"function":[31],"be":[33],"inserted":[34],"equation":[37],"robot":[40],"dynamics":[41],"which":[42],"may":[43],"cause":[44],"transient":[45],"instability":[46],"for":[47,115,135],"overall":[49],"system.":[50,97],"Two":[51],"robust":[52],"strategies":[54],"are":[55,78],"presented":[56],"paper":[59],"handle":[61],"such":[62,129],"systems.":[65],"first":[68],"strategy,":[69],"assume":[71],"that":[72,87,122],"bounds":[74,110,117],"known.":[79],"A":[80],"sliding":[81],"mode":[82],"stabilizing":[83],"controller":[84],"is":[85,133],"developed":[86],"can":[88,123],"guarantee":[89,124],"global":[90,125],"stable":[91,126],"performance":[92,127],"given":[95],"second":[100],"one,":[101],"relax":[103],"assumption":[105],"knowing":[107],"through":[111],"deriving":[112],"update":[113],"laws":[114],"those":[116],"and":[118],"new":[119],"actions":[121],"under":[128],"constraints.":[131,144],"Simulation":[132],"performed":[134],"two":[137,142],"link":[138],"system":[140],"having":[141],"The":[145],"results":[146],"obtained":[147],"simulation":[150],"verify":[151],"efficacy":[153],"suggested":[156],"strategy.":[158]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}