{"id":"https://openalex.org/W1999106229","doi":"https://doi.org/10.1109/iros.2014.6942889","title":"Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system","display_name":"Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1999106229","doi":"https://doi.org/10.1109/iros.2014.6942889","mag":"1999106229"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","Advanced Robotics Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048683108","display_name":"Maolin Jin","orcid":"https://orcid.org/0000-0001-5420-9705"},"institutions":[{"id":"https://openalex.org/I4210093431","display_name":"Research Institute of Industrial Science and Technology","ror":"https://ror.org/005tx0y19","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210093431"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Maolin Jin","raw_affiliation_strings":["System Solution Research Department, Research Institute of Industrial Science and Technology, Pohang, Korea","System Solution Research Department, Research Institute of Industrial Science and Technology, Pohang 790-330, Korea"],"affiliations":[{"raw_affiliation_string":"System Solution Research Department, Research Institute of Industrial Science and Technology, Pohang, Korea","institution_ids":["https://openalex.org/I4210093431"]},{"raw_affiliation_string":"System Solution Research Department, Research Institute of Industrial Science and Technology, Pohang 790-330, Korea","institution_ids":["https://openalex.org/I4210093431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikolaos G. Tsagarakis","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","Advanced Robotics Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","Advanced Robotics Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Advanced Robotics Department, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017250304"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.623,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.85146596,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"2407","last_page":"2413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","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/T11525","display_name":"Piezoelectric Actuators and Control","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":0.993399977684021,"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/T10865","display_name":"Shape Memory Alloy Transformations","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials 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":0.8467586040496826},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5850131511688232},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5377277731895447},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5238319039344788},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.47052088379859924},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46624866127967834},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4654484689235687},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.4489608407020569},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4105531871318817},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3677067756652832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.28859007358551025},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1240505576133728},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10247254371643066}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8467586040496826},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5850131511688232},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5377277731895447},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5238319039344788},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.47052088379859924},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46624866127967834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4654484689235687},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.4489608407020569},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4105531871318817},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3677067756652832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.28859007358551025},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1240505576133728},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10247254371643066},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1513016807","https://openalex.org/W1553217900","https://openalex.org/W1967566180","https://openalex.org/W1995911701","https://openalex.org/W2002445862","https://openalex.org/W2023274438","https://openalex.org/W2026980824","https://openalex.org/W2028573862","https://openalex.org/W2043440326","https://openalex.org/W2055812753","https://openalex.org/W2062142552","https://openalex.org/W2080437194","https://openalex.org/W2081595459","https://openalex.org/W2083844611","https://openalex.org/W2103920070","https://openalex.org/W2111530809","https://openalex.org/W2114194581","https://openalex.org/W2117702493","https://openalex.org/W2127128696","https://openalex.org/W2129275525","https://openalex.org/W2131481667","https://openalex.org/W2134375322","https://openalex.org/W2136170256","https://openalex.org/W2146367246","https://openalex.org/W2149930382","https://openalex.org/W2156671238","https://openalex.org/W2158081646","https://openalex.org/W2158121031","https://openalex.org/W2166476522","https://openalex.org/W2168735480","https://openalex.org/W2171695274","https://openalex.org/W2511815762","https://openalex.org/W3142791425","https://openalex.org/W6670770336"],"related_works":["https://openalex.org/W2166459078","https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2274682661","https://openalex.org/W2306349892","https://openalex.org/W897560829","https://openalex.org/W2375807149","https://openalex.org/W2786766270"],"abstract_inverted_index":{"The":[0,138,170],"need":[1],"for":[2,132,154],"safe":[3],"human-robot":[4],"interaction":[5],"in":[6,41,178,210],"emerging":[7],"robotic":[8],"applications":[9],"has":[10],"recently":[11],"driven":[12],"the":[13,35,44,50,66,90,93,98,107,167,173,179,184,189],"development":[14],"of":[15,18,37,52,59,68,97,142,157,172,181,187,208],"new":[16],"range":[17],"actuation":[19],"systems":[20],"spanning":[21],"from":[22,112],"variable":[23,27,31,38,61],"stiffness":[24],"drives":[25],"to":[26,48,87,104,166,200],"damping":[28,40,63,70,91],"or":[29],"full":[30],"impedance":[32],"joints.":[33],"Concerning":[34],"provision":[36],"physical":[39,62],"compliant":[42,53],"actuators,":[43],"main":[45],"objective":[46],"is":[47,71,79,100,176,193],"improve":[49],"control":[51,89,96,106,140,191],"joint.":[54],"In":[55],"a":[56,75,126],"particular":[57],"class":[58],"these":[60],"actuators":[64,84],"(VPDAs),":[65],"level":[67],"generated":[69,108],"realized":[72],"by":[73,82,198],"creating":[74],"friction":[76],"force":[77,95,110,129,205],"which":[78,159],"actively":[80],"controlled":[81],"piezoelectric":[83,109],"(PEAs).":[85],"Therefore,":[86],"effectively":[88],"output,":[92],"accurate":[94],"PEAs":[99,133,209],"required.":[101],"However,":[102],"difficulties":[103],"precisely":[105],"stem":[111],"its":[113],"highly":[114],"nonlinear":[115,155],"behavior":[116],"such":[117],"as":[118],"hysteresis":[119,136],"and":[120,151,163,196],"creep":[121],"effect.":[122],"This":[123],"paper":[124],"presents":[125],"novel":[127],"practical":[128],"tracking":[130,206],"controller":[131],"with":[134],"unknown":[135],"behavior.":[137],"proposed":[139,190],"consists":[141],"two":[143],"elements:":[144],"terminal":[145],"sliding-mode":[146],"based":[147],"desired":[148],"dynamics":[149,156],"injection":[150],"model-free":[152],"compensation":[153],"PEAs,":[158],"allow":[160],"fast":[161],"convergence":[162],"extraordinary":[164],"robustness":[165],"closed-loop":[168],"system.":[169,212],"stability":[171],"overall":[174],"system":[175],"proved":[177],"sense":[180],"Lyapunov.":[182],"On":[183],"real":[185],"prototype":[186],"VPDA,":[188],"scheme":[192],"experimentally":[194],"verified":[195],"analyzed":[197],"comparison":[199],"other":[201],"controllers,":[202],"demonstrating":[203],"improved":[204],"performance":[207],"VPDA":[211]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
