{"id":"https://openalex.org/W3160275560","doi":"https://doi.org/10.1109/isr50024.2021.9419527","title":"Integral Sliding Mode Control for a Human Support Robot","display_name":"Integral Sliding Mode Control for a Human Support Robot","publication_year":2021,"publication_date":"2021-03-04","ids":{"openalex":"https://openalex.org/W3160275560","doi":"https://doi.org/10.1109/isr50024.2021.9419527","mag":"3160275560"},"language":"en","primary_location":{"id":"doi:10.1109/isr50024.2021.9419527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr50024.2021.9419527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","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/A5087673687","display_name":"Fandi Qing","orcid":"https://orcid.org/0009-0009-0311-8438"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fandi Qing","raw_affiliation_strings":["School of Automation, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088453147","display_name":"Hongbin Chang","orcid":"https://orcid.org/0000-0001-6997-2375"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Chang","raw_affiliation_strings":["School of Automation, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053561890","display_name":"Xiaojie Su","orcid":"https://orcid.org/0000-0003-1802-0264"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojie Su","raw_affiliation_strings":["School of Automation, Chongqing University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085134821","display_name":"Shuoyu Wang","orcid":"https://orcid.org/0000-0002-2111-6251"},"institutions":[{"id":"https://openalex.org/I35568498","display_name":"Kochi University of Technology","ror":"https://ror.org/00rghrr56","country_code":"JP","type":"education","lineage":["https://openalex.org/I35568498"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuoyu Wang","raw_affiliation_strings":["Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Kami, Kochi, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Kami, Kochi, JAPAN","institution_ids":["https://openalex.org/I35568498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"369","last_page":"372"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.994700014591217,"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":0.994700014591217,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9894999861717224,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9812999963760376,"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/control-theory","display_name":"Control theory (sociology)","score":0.7900640964508057},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7342032790184021},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6749562621116638},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6699346303939819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6554443836212158},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.5736641883850098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49753573536872864},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4928183853626251},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4631020724773407},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4477991461753845},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4462663531303406},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.44222527742385864},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43797749280929565},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4259498715400696},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4073773920536041},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3524302840232849},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.21556368470191956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2124229371547699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1804923117160797}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7900640964508057},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7342032790184021},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6749562621116638},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6699346303939819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6554443836212158},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.5736641883850098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49753573536872864},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4928183853626251},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4631020724773407},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4477991461753845},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4462663531303406},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44222527742385864},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43797749280929565},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4259498715400696},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4073773920536041},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3524302840232849},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.21556368470191956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2124229371547699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1804923117160797},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isr50024.2021.9419527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr50024.2021.9419527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5470058110","display_name":"\u57fa\u4e8e\u6a21\u7cca\u903b\u8f91\u7684\u65e0\u7ebf\u4f20\u611f\u5668\u7f51\u7edc\u5206\u5e03\u5f0f\u964d\u9636\u4f30\u8ba1\u7b97\u6cd5\u7814\u7a76","funder_award_id":"61772095","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1965585748","https://openalex.org/W1988367613","https://openalex.org/W2018918594","https://openalex.org/W2019917822","https://openalex.org/W2034088441","https://openalex.org/W2591999327","https://openalex.org/W2621038831","https://openalex.org/W2787063656","https://openalex.org/W2787504052","https://openalex.org/W2789897185","https://openalex.org/W2790105089","https://openalex.org/W2792427381","https://openalex.org/W2807402986","https://openalex.org/W2889334376","https://openalex.org/W2892298216","https://openalex.org/W2911725628","https://openalex.org/W2918265803","https://openalex.org/W2921325762"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W2021587409","https://openalex.org/W2726654316","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W4384821980","https://openalex.org/W2165744821","https://openalex.org/W1496250982","https://openalex.org/W2392286806","https://openalex.org/W4386630499"],"abstract_inverted_index":{"A":[0],"trajectory":[1,32],"tracking":[2,33],"control":[3,10,69],"scheme":[4],"based":[5],"on":[6],"integral":[7],"sliding":[8],"mode":[9],"for":[11,43],"a":[12],"human":[13],"support":[14],"man":[15],"is":[16,24,55],"proposed":[17,68],"in":[18,26,39,47],"the":[19,44,53,64,67],"present":[20],"paper.":[21],"Disturbance":[22],"observer":[23],"introduced":[25],"this":[27],"study,":[28],"which":[29],"can":[30],"improve":[31],"accuracy":[34],"and":[35],"enhance":[36],"system":[37,54],"robustness,":[38],"order":[40],"to":[41],"account":[42],"external":[45],"disturbances":[46],"complex":[48],"environments.":[49],"The":[50,60],"stability":[51],"of":[52,66],"analyzed":[56],"through":[57],"Lyapunov":[58],"theory.":[59],"simulation":[61],"results":[62],"verify":[63],"effectiveness":[65],"method.":[70]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}