{"id":"https://openalex.org/W2152707954","doi":"https://doi.org/10.1109/iros.2005.1545462","title":"Double layer sliding mode control for second-order underactuated mechanical systems","display_name":"Double layer sliding mode control for second-order underactuated mechanical systems","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2152707954","doi":"https://doi.org/10.1109/iros.2005.1545462","mag":"2152707954"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5100723258","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-6941-2236"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China","School of information science and technology, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"School of information science and technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019541846","display_name":"Jianqiang Yi","orcid":"https://orcid.org/0000-0003-3268-9482"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Yi","raw_affiliation_strings":["Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100624298","display_name":"Dongbin Zhao","orcid":"https://orcid.org/0000-0001-8218-9633"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongbin Zhao","raw_affiliation_strings":["Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100358234","display_name":"Xiaojing Liu","orcid":"https://orcid.org/0009-0009-3019-5455"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojing Liu","raw_affiliation_strings":["Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Laboratory of complex systems and intelligence science, Chinese Academy and Sciences, China","institution_ids":["https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100723258"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.14467953,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"295","last_page":"300"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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":0.9991999864578247,"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/underactuation","display_name":"Underactuation","score":0.7978201508522034},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7841333150863647},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7648954391479492},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6617478132247925},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.55714350938797},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5447658896446228},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.532844603061676},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.532204806804657},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4754704535007477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46394726634025574},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.43892940878868103},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26044952869415283},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24860313534736633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1891975700855255},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15683305263519287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0961160659790039},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.09595400094985962},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0861266553401947}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7978201508522034},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7841333150863647},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7648954391479492},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6617478132247925},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.55714350938797},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5447658896446228},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.532844603061676},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.532204806804657},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4754704535007477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46394726634025574},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43892940878868103},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26044952869415283},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24860313534736633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1891975700855255},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15683305263519287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0961160659790039},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.09595400094985962},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0861266553401947},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1979939118","https://openalex.org/W1983457957","https://openalex.org/W2041079378","https://openalex.org/W2111683789","https://openalex.org/W2113930058","https://openalex.org/W2134488770"],"related_works":["https://openalex.org/W565008099","https://openalex.org/W1495559799","https://openalex.org/W3140581650","https://openalex.org/W2363498782","https://openalex.org/W70498098","https://openalex.org/W2117379282","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W1973429430","https://openalex.org/W1989996768"],"abstract_inverted_index":{"A":[0],"new":[1],"stable":[2],"sliding":[3,42,49,57,97],"mode":[4],"control":[5,76],"method":[6,108],"for":[7,109],"a":[8,40,55],"class":[9,111],"of":[10,37,63,67,82,94,106,112],"underactuated":[11,69,113],"mechanical":[12,70,114],"systems":[13],"is":[14,44],"proposed":[15],"in":[16],"this":[17,107,110],"paper.":[18],"The":[19,100],"controller":[20,84],"has":[21],"the":[22,26,61,64,68,74,80,83,89,92,96,104],"double-layer":[23],"structure.":[24],"Firstly,":[25],"system":[27],"states":[28],"are":[29],"divided":[30],"into":[31],"several":[32],"different":[33],"subsystems.":[34],"For":[35],"each":[36],"these":[38,47],"subsystems,":[39],"first-layer":[41,48],"plane":[43],"constructed.":[45],"From":[46],"planes,":[50],"then":[51],"we":[52,72],"further":[53],"construct":[54],"second-layer":[56],"plane.":[58],"By":[59],"analyzing":[60],"features":[62],"mathematical":[65],"model":[66],"systems,":[71],"derive":[73],"sliding-mode":[75],"law":[77],"and":[78],"indicate":[79],"ranges":[81],"parameters.":[85],"Using":[86],"Lyapunov":[87],"law,":[88],"paper":[90],"proves":[91],"stability":[93],"all":[95],"planes":[98],"theoretically.":[99],"simulation":[101],"results":[102],"show":[103],"validity":[105],"systems.":[115]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"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"}