{"id":"https://openalex.org/W4405786329","doi":"https://doi.org/10.1109/iros58592.2024.10802641","title":"Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments","display_name":"Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786329","doi":"https://doi.org/10.1109/iros58592.2024.10802641"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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-04661496v1/document","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/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/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/I4405261681"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Hussein Saied","raw_affiliation_strings":["University of Montpellier, CNRS,LIRMM,Montpellier,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Montpellier, CNRS,LIRMM,Montpellier,France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"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":"government","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/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chemori","raw_affiliation_strings":["University of Montpellier, CNRS,LIRMM,Montpellier,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Montpellier, CNRS,LIRMM,Montpellier,France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084836471","display_name":"Mohamed Bouri","orcid":"https://orcid.org/0000-0003-1083-3180"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mohamed Bouri","raw_affiliation_strings":["EPFL,Lausanne,Switzerland,CH-1015"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL,Lausanne,Switzerland,CH-1015","institution_ids":["https://openalex.org/I5124864"]}]},{"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":["Lebanese University,CRSI, Faculty of Engineering,Beirut,Lebanon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lebanese University,CRSI, Faculty of Engineering,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/I190752583","display_name":"ParisTech","ror":"https://ror.org/05c2qg481","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Clovis Francis","raw_affiliation_strings":["Campus de Châlonsen-Champagne,Arts et Métiers ParisTech,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Campus de Châlonsen-Champagne,Arts et Métiers ParisTech,France","institution_ids":["https://openalex.org/I190752583"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5013639495"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":0.3083,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.61203508,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"12000","last_page":"12007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9975000023841858,"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":0.9973000288009644,"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/kinematics","display_name":"Kinematics","score":0.7823526263237},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.7715888023376465},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7122710943222046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5519261360168457},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5346295833587646},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.49889206886291504},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.465317964553833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36018526554107666},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3519779443740845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17872115969657898},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16771063208580017},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13097110390663147},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0659472644329071}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7823526263237},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7715888023376465},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7122710943222046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5519261360168457},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5346295833587646},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.49889206886291504},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.465317964553833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36018526554107666},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3519779443740845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17872115969657898},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16771063208580017},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13097110390663147},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0659472644329071},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10802641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-04661496v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04661496","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04661496v1/document","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://iros2024-abudhabi.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-04661496v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04661496","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04661496v1/document","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://iros2024-abudhabi.org/","raw_type":"Conference papers"},"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405786329.pdf","grobid_xml":"https://content.openalex.org/works/W4405786329.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W992309275","https://openalex.org/W1526444876","https://openalex.org/W1564251777","https://openalex.org/W1966778048","https://openalex.org/W1981628221","https://openalex.org/W2004070105","https://openalex.org/W2012209512","https://openalex.org/W2018851823","https://openalex.org/W2021316863","https://openalex.org/W2035018511","https://openalex.org/W2059163735","https://openalex.org/W2066260126","https://openalex.org/W2144426941","https://openalex.org/W2149364867","https://openalex.org/W2152720641","https://openalex.org/W2154892481","https://openalex.org/W2163854772","https://openalex.org/W2616315826","https://openalex.org/W2736995527","https://openalex.org/W2790036537","https://openalex.org/W2981427042","https://openalex.org/W2994695572","https://openalex.org/W3012855411","https://openalex.org/W4225813060","https://openalex.org/W4243385754","https://openalex.org/W4285254885","https://openalex.org/W4308348118","https://openalex.org/W4364856146","https://openalex.org/W6678805961"],"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/W620095722","https://openalex.org/W2110982267"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,44,74,82],"novel":[6],"adaptive":[7,38],"feedforward":[8,39,128],"super-twisting":[9,34,129],"sliding":[10,130],"mode":[11,131],"control":[12,18,25,132],"algorithm":[13],"to":[14,47,61],"resolve":[15],"the":[16,32,70,105,121,124,127],"tracking":[17],"problem":[19],"of":[20,69,104],"parallel":[21,86],"manipulators.":[22],"The":[23,50,102],"proposed":[24,51,106],"scheme":[26],"includes":[27],"three":[28],"main":[29,90],"terms,":[30],"(i)":[31,92],"standard":[33,125],"algorithm,":[35],"(ii)":[36,96],"an":[37],"dynamic":[40,66],"model,":[41],"and":[42,57,64,95,114,126],"(iii)":[43],"feedback":[45],"term":[46],"ensure":[48],"stability.":[49],"controller":[52,107],"provides":[53],"robustness":[54,97],"towards":[55,98],"uncertainties":[56],"disturbances,":[58],"less":[59],"sensitive":[60],"measurement":[62],"noise,":[63],"allows":[65],"parameters":[67],"adaptation":[68],"manipulator":[71],"while":[72],"executing":[73],"certain":[75],"task.":[76],"Real-time":[77],"experiments":[78],"are":[79],"conducted":[80],"on":[81],"3-DOF":[83],"non-redundant":[84],"Delta":[85],"robot,":[87],"including":[88,123],"two":[89,117],"scenarios,":[91],"nominal":[93],"case,":[94],"operating":[99],"acceleration":[100],"changes.":[101],"relevance":[103],"is":[108],"verified":[109],"experimentally":[110],"in":[111],"both":[112],"scenarios":[113],"compared":[115],"with":[116],"other":[118],"controllers":[119],"from":[120],"literature,":[122],"algorithms.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}