{"id":"https://openalex.org/W2060631926","doi":"https://doi.org/10.1109/jsyst.2013.2286509","title":"A Supervisory Sliding Mode Control Approach for Cooperative Robotic System of Systems","display_name":"A Supervisory Sliding Mode Control Approach for Cooperative Robotic System of Systems","publication_year":2013,"publication_date":"2013-11-19","ids":{"openalex":"https://openalex.org/W2060631926","doi":"https://doi.org/10.1109/jsyst.2013.2286509","mag":"2060631926"},"language":"en","primary_location":{"id":"doi:10.1109/jsyst.2013.2286509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2013.2286509","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Systems Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11311/1027684","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066287429","display_name":"Gian Paolo Incremona","orcid":"https://orcid.org/0000-0003-1974-5646"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gian Paolo Incremona","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000194700","display_name":"Gianluca De Felici","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca De Felici","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073649425","display_name":"Antonella Ferrara","orcid":"https://orcid.org/0000-0002-1977-8248"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonella Ferrara","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041841830","display_name":"Ezio Bassi","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ezio Bassi","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Dipt. di Ing. Ind. e dell' Inf., Univ. of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.147,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.93198879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"263","last_page":"272"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9937000274658203,"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":0.9937000274658203,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9818000197410583,"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":0.9743000268936157,"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/supervisor","display_name":"Supervisor","score":0.7790840864181519},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7516422867774963},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.7108731865882874},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6930352449417114},{"id":"https://openalex.org/keywords/supervisory-control","display_name":"Supervisory control","score":0.6829395890235901},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5286044478416443},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5262179374694824},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5087588429450989},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5005149841308594},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4833488166332245},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.47073400020599365},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.46533718705177307},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4651549756526947},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4538206160068512},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4283190965652466},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4127603769302368},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2860601842403412},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2310505509376526},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10669523477554321}],"concepts":[{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.7790840864181519},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7516422867774963},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.7108731865882874},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6930352449417114},{"id":"https://openalex.org/C92991967","wikidata":"https://www.wikidata.org/wiki/Q7644329","display_name":"Supervisory control","level":3,"score":0.6829395890235901},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5286044478416443},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5262179374694824},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5087588429450989},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5005149841308594},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4833488166332245},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.47073400020599365},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.46533718705177307},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4651549756526947},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4538206160068512},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4283190965652466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4127603769302368},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2860601842403412},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2310505509376526},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10669523477554321},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/jsyst.2013.2286509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2013.2286509","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Systems Journal","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1027684","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1027684","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:re.public.polimi.it:11311/1027684","is_oa":true,"landing_page_url":"https://hdl.handle.net/11311/1027684","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W98433237","https://openalex.org/W987806882","https://openalex.org/W1516289514","https://openalex.org/W1516447630","https://openalex.org/W1560270123","https://openalex.org/W1920156676","https://openalex.org/W2010061639","https://openalex.org/W2054644575","https://openalex.org/W2096369755","https://openalex.org/W2111018365","https://openalex.org/W2114945409","https://openalex.org/W2123288296","https://openalex.org/W2137734100","https://openalex.org/W2141222604","https://openalex.org/W2148600920","https://openalex.org/W2155296698","https://openalex.org/W2159887188","https://openalex.org/W2168245063","https://openalex.org/W2265937691","https://openalex.org/W2294731800","https://openalex.org/W4234398551","https://openalex.org/W4256152864","https://openalex.org/W4256153703"],"related_works":["https://openalex.org/W1536962364","https://openalex.org/W46796605","https://openalex.org/W2333630979","https://openalex.org/W2325169597","https://openalex.org/W1502177156","https://openalex.org/W4309988904","https://openalex.org/W2070318121","https://openalex.org/W2331919730","https://openalex.org/W1964497242","https://openalex.org/W1966453684"],"abstract_inverted_index":{"This":[0,28],"paper":[1],"deals":[2],"with":[3,17,76],"the":[4,18,35,85,111,114,164,174,177,185,192,196,203],"formulation":[5],"of":[6,21,23,25,30,37,70,79,99,102,113,138,154,166,184,202],"a":[7,50,60,65,68,77,97,147,210],"supervisory":[8],"sliding":[9],"mode":[10],"(SM)":[11],"control":[12,73,120,179,194],"approach":[13,54],"oriented":[14],"to":[15,92,141,145,182],"deal":[16],"interesting":[19],"class":[20,29],"system":[22,88],"systems":[24,31],"robotic":[26,81,87,187,215],"nature.":[27],"is":[32],"characterized":[33],"by":[34,172],"fact":[36],"being":[38],"inherently":[39],"distributed,":[40],"cooperative,":[41],"and,":[42],"possibly,":[43],"heterogeneous.":[44],"In":[45,83,105],"this":[46,106],"paper,":[47,107],"we":[48,89,108],"propose":[49],"modular":[51],"and":[52,67,128,134,158,163,176],"composable":[53],"relying":[55],"on":[56,110,126,195,209],"basic":[57,100,115],"modules":[58,101],"featuring":[59],"multilevel":[61],"functional":[62],"architecture,":[63],"including":[64],"supervisor":[66,175],"couple":[69,78],"hybrid":[71,118,178],"position/force":[72,119],"schemes":[74,121],"associated":[75],"cooperative":[80],"manipulators.":[82],"principle,":[84],"overall":[86],"are":[90,124,137],"referring":[91],"can":[93],"be":[94],"viewed":[95],"as":[96],"collection":[98],"that":[103],"type.":[104],"focus":[109],"design":[112],"module.":[116],"The":[117,131,161,199],"therein":[122],"included":[123],"based":[125],"position":[127,133,193],"force":[129,135],"controllers.":[130],"proposed":[132],"controllers":[136],"SM":[139],"type,":[140],"assure":[142],"suitable":[143],"robustness":[144],"perform":[146],"satisfactory":[148],"trajectory":[149],"tracking":[150],"even":[151],"in":[152],"presence":[153],"unavoidable":[155],"modeling":[156],"uncertainties":[157],"external":[159],"disturbances.":[160],"verification":[162],"validation":[165],"our":[167],"proposal":[168],"have":[169],"been":[170,206],"performed":[171],"simulating":[173],"scheme":[180],"applied":[181],"one":[183],"two":[186],"manipulators":[188],"while":[189],"experimentally":[190],"testing":[191],"other":[197],"arm.":[198],"experimental":[200],"part":[201],"tests":[204],"has":[205],"carried":[207],"out":[208],"COMAU":[211],"SMART3-S2":[212],"anthropomorphic":[213],"industrial":[214],"manipulator.":[216]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}