{"id":"https://openalex.org/W2095761110","doi":"https://doi.org/10.1109/iros.2011.6094401","title":"An enhanced sliding-mode control for a pneumatic-actuated teleoperation system","display_name":"An enhanced sliding-mode control for a pneumatic-actuated teleoperation system","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2095761110","doi":"https://doi.org/10.1109/iros.2011.6094401","mag":"2095761110"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094401","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5044123689","display_name":"Minh\u2010Quyen Le","orcid":"https://orcid.org/0000-0001-5907-159X"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210145913","display_name":"Laboratoire Amp\u00e8re","ror":"https://ror.org/04xbczw40","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I112936343","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210145913","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Q. Le","raw_affiliation_strings":["Laboratoire Amp\u00e8re, UMR CNRS 5005, INSA-Lyon, Universit\u00e9 de Lyon, Villeurbanne, France","Laboratoire Amp\u00e8re UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, F-69621 Villeurbanne Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Amp\u00e8re, UMR CNRS 5005, INSA-Lyon, Universit\u00e9 de Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]},{"raw_affiliation_string":"Laboratoire Amp\u00e8re UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, F-69621 Villeurbanne Cedex, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084059847","display_name":"Minh Tu Pham","orcid":"https://orcid.org/0000-0001-6799-5899"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210145913","display_name":"Laboratoire Amp\u00e8re","ror":"https://ror.org/04xbczw40","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I112936343","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210145913","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. T. Pham","raw_affiliation_strings":["Laboratoire Amp\u00e8re, UMR CNRS 5005, INSA-Lyon, Universit\u00e9 de Lyon, Villeurbanne, France","Laboratoire Amp\u00e8re UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, F-69621 Villeurbanne Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Amp\u00e8re, UMR CNRS 5005, INSA-Lyon, Universit\u00e9 de Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]},{"raw_affiliation_string":"Laboratoire Amp\u00e8re UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, F-69621 Villeurbanne Cedex, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Tavakoli","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, T6G2V4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, T6G2V4, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101501194","display_name":"Richard Moreau","orcid":"https://orcid.org/0000-0003-4885-5107"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210145913","display_name":"Laboratoire Amp\u00e8re","ror":"https://ror.org/04xbczw40","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I112936343","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I203339264","https://openalex.org/I4210145913","https://openalex.org/I48430043"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Moreau","raw_affiliation_strings":["Laboratoire Amp\u00e8re, UMR CNRS 5005, INSA-Lyon, Universit\u00e9 de Lyon, Villeurbanne, France","Laboratoire Amp\u00e8re UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, F-69621 Villeurbanne Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire Amp\u00e8re, UMR CNRS 5005, INSA-Lyon, Universit\u00e9 de Lyon, Villeurbanne, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]},{"raw_affiliation_string":"Laboratoire Amp\u00e8re UMR CNRS 5005, Universit\u00e9 de Lyon, INSA-Lyon, F-69621 Villeurbanne Cedex, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I4210145913"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0889,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.91142481,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"659","last_page":"664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T14011","display_name":"Elevator Systems and Control","score":0.980400025844574,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9563999772071838,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/teleoperation","display_name":"Teleoperation","score":0.961721658706665},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.7562545537948608},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7019092440605164},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.684732973575592},{"id":"https://openalex.org/keywords/position-tracking","display_name":"Position tracking","score":0.5596129894256592},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4734703600406647},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.45509645342826843},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4386010766029358},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4266551733016968},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4253774881362915},{"id":"https://openalex.org/keywords/solenoid","display_name":"Solenoid","score":0.4234533905982971},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4221181869506836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37756356596946716},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3480106592178345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2859252095222473},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21268314123153687},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11043009161949158},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07805240154266357},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07444220781326294}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.961721658706665},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.7562545537948608},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7019092440605164},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.684732973575592},{"id":"https://openalex.org/C3017729373","wikidata":"https://www.wikidata.org/wiki/Q30324728","display_name":"Position tracking","level":3,"score":0.5596129894256592},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4734703600406647},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.45509645342826843},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4386010766029358},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4266551733016968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4253774881362915},{"id":"https://openalex.org/C192144188","wikidata":"https://www.wikidata.org/wiki/Q245739","display_name":"Solenoid","level":2,"score":0.4234533905982971},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4221181869506836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37756356596946716},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3480106592178345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2859252095222473},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21268314123153687},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11043009161949158},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07805240154266357},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07444220781326294},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094401","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"2011 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","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1967390389","https://openalex.org/W1970338963","https://openalex.org/W1981882606","https://openalex.org/W1986261026","https://openalex.org/W2071592984","https://openalex.org/W2092135655","https://openalex.org/W2097347938","https://openalex.org/W2112736206","https://openalex.org/W2113873545","https://openalex.org/W2115035808","https://openalex.org/W2129503982","https://openalex.org/W2170931259","https://openalex.org/W6645627838","https://openalex.org/W6677081199"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,48],"enhanced":[4],"sliding":[5,22],"mode":[6],"control":[7,23,53,87],"for":[8],"pneumatic":[9,36,95],"master-slave":[10],"teleoperation":[11,31,80,96,112],"systems":[12],"that":[13],"are":[14,82],"actuated":[15],"by":[16],"low-cost":[17],"solenoid":[18],"valves.":[19,72],"A":[20],"five-mode":[21],"is":[24,89],"incorporated":[25],"into":[26],"position-position,":[27],"force-force,":[28],"and":[29,65,74,107],"force-position":[30],"architectures.":[32],"While":[33],"on/off":[34],"valve":[35],"actuators":[37],"have":[38],"previously":[39],"been":[40],"modeled":[41],"as":[42,55],"having":[43],"three":[44],"discrete":[45,52],"operating":[46],"modes,":[47],"extension":[49],"to":[50,59],"five":[51],"levels":[54],"proposed":[56,86],"here":[57],"helps":[58],"improve":[60],"the":[61,67,71,78,111],"actuator":[62],"dynamic":[63],"performance":[64],"reduce":[66],"switching":[68],"activities":[69],"of":[70,77,105],"Stability":[73],"transparency":[75],"analyses":[76],"closed-loop":[79],"system":[81],"carried":[83],"out.":[84],"The":[85],"design":[88],"experimentally":[90],"tested":[91],"on":[92],"a":[93],"single-degree-of-freedom":[94],"system.":[97,113],"Experimental":[98],"results":[99],"demonstrate":[100],"high":[101],"accuracies":[102],"in":[103,110],"terms":[104],"position":[106],"force":[108],"tracking":[109]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
