{"id":"https://openalex.org/W3205050127","doi":"https://doi.org/10.1109/iros51168.2021.9636168","title":"A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments","display_name":"A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3205050127","doi":"https://doi.org/10.1109/iros51168.2021.9636168","mag":"3205050127"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636168","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03343014","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013639495","display_name":"Hussein Saied","orcid":"https://orcid.org/0000-0003-4986-9447"},"institutions":[{"id":"https://openalex.org/I160368002","display_name":"Lebanese University","ror":"https://ror.org/05x6qnc69","country_code":"LB","type":"education","lineage":["https://openalex.org/I160368002"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR","LB"],"is_corresponding":true,"raw_author_name":"Hussein Saied","raw_affiliation_strings":["CRSI, Lebanese University, Beirut, Lebanon","LIRMM, University of Montpellier, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"CRSI, Lebanese University, Beirut, Lebanon","institution_ids":["https://openalex.org/I160368002"]},{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chemori","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064217457","display_name":"Maher El Rafei","orcid":null},"institutions":[{"id":"https://openalex.org/I160368002","display_name":"Lebanese University","ror":"https://ror.org/05x6qnc69","country_code":"LB","type":"education","lineage":["https://openalex.org/I160368002"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Maher El Rafei","raw_affiliation_strings":["CRSI, Lebanese University, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"CRSI, Lebanese University, Beirut, Lebanon","institution_ids":["https://openalex.org/I160368002"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112144379","display_name":"Clovis Francis","orcid":null},"institutions":[{"id":"https://openalex.org/I160368002","display_name":"Lebanese University","ror":"https://ror.org/05x6qnc69","country_code":"LB","type":"education","lineage":["https://openalex.org/I160368002"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Clovis Francis","raw_affiliation_strings":["CRSI, Lebanese University, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"CRSI, Lebanese University, Beirut, Lebanon","institution_ids":["https://openalex.org/I160368002"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013639495"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I160368002","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":2.1852,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87906977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8029","last_page":"8035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9986000061035156,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9986000061035156,"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":0.9983000159263611,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9965999722480774,"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/robustness","display_name":"Robustness (evolution)","score":0.8408353328704834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8274933695793152},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6288001537322998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6107906103134155},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.599061906337738},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5496951341629028},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5068302750587463},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4827501177787781},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43325820565223694},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.32908952236175537},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28588688373565674},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22528144717216492},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17984259128570557}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8408353328704834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8274933695793152},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6288001537322998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6107906103134155},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.599061906337738},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5496951341629028},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5068302750587463},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4827501177787781},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43325820565223694},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32908952236175537},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28588688373565674},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22528144717216492},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17984259128570557},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636168","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-03343014v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03343014","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-03343014v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03343014","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W992309275","https://openalex.org/W1486613067","https://openalex.org/W1944072856","https://openalex.org/W1966778048","https://openalex.org/W1969140852","https://openalex.org/W2018851823","https://openalex.org/W2021316863","https://openalex.org/W2029700848","https://openalex.org/W2059163735","https://openalex.org/W2065043747","https://openalex.org/W2105174847","https://openalex.org/W2144426941","https://openalex.org/W2149212165","https://openalex.org/W2156747057","https://openalex.org/W2243879942","https://openalex.org/W2394141506","https://openalex.org/W2420367108","https://openalex.org/W2473766415","https://openalex.org/W2616315826","https://openalex.org/W2736995527","https://openalex.org/W2768027977","https://openalex.org/W2790036537","https://openalex.org/W2909830432","https://openalex.org/W2914741483","https://openalex.org/W2994695572","https://openalex.org/W3012855411","https://openalex.org/W3134359865","https://openalex.org/W4210939600","https://openalex.org/W6682020275","https://openalex.org/W6771945425"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559","https://openalex.org/W2007570603","https://openalex.org/W2773679836","https://openalex.org/W2088225762"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,12,31,78,87,92,100],"new":[4],"robust":[5],"model-based":[6],"super-twisting":[7,22,83],"algorithm":[8,23],"is":[9,69,126],"proposed":[10,62,123],"as":[11],"control":[13,33,124],"solution":[14,125],"for":[15,24],"parallel":[16],"kinematic":[17],"manipulators":[18,26],"(PKMs).":[19],"The":[20,61,119],"conventional":[21],"robot":[25],"has":[27],"the":[28,45,49,58,66,82,114,122,129,132],"structure":[29],"of":[30,48,121,131],"computed-torque":[32],"which":[34],"can":[35],"be":[36],"sensitive":[37],"to":[38],"measurement":[39],"noise.":[40],"This":[41],"issue":[42],"may":[43],"deteriorate":[44],"dynamic":[46,80,137],"performance":[47,134],"manipulator":[50],"and":[51,73,86,113],"reduce":[52],"its":[53],"robustness":[54,115],"towards":[55,116],"changes":[56],"in":[57],"operating":[59,138],"conditions.":[60,139],"approach,":[63],"relying":[64],"on":[65,99],"desired":[67],"trajectory,":[68],"more":[70,74],"computationally":[71],"efficient":[72],"robust.":[75],"It":[76],"includes":[77],"feedforward":[79],"compensator,":[81],"feedback":[84,88],"control,":[85],"stabilizing":[89],"term.":[90],"As":[91],"validation,":[93],"real-time":[94],"experiments":[95],"have":[96,107],"been":[97,108],"conducted":[98],"5-DOF":[101],"redundantly":[102],"actuated":[103],"PKM.":[104],"Several":[105],"scenarios":[106],"tested":[109],"including":[110],"nominal":[111],"case":[112],"speed":[117],"variations.":[118],"relevance":[120],"proved":[127],"through":[128],"improvement":[130],"tracking":[133],"at":[135],"different":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}