{"id":"https://openalex.org/W1971364463","doi":"https://doi.org/10.1109/mmar.2014.6957363","title":"Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties","display_name":"Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1971364463","doi":"https://doi.org/10.1109/mmar.2014.6957363","mag":"1971364463"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2014.6957363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5044255545","display_name":"Manar Lashin","orcid":"https://orcid.org/0000-0002-6342-0905"},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Manar Lashin","raw_affiliation_strings":["Mechatronics and Robotics Eng. Dept., Egypt-Japan University of Science and Technology, Egypt","[Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology E-JUST- Alexandria, Egypt]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotics Eng. Dept., Egypt-Japan University of Science and Technology, Egypt","institution_ids":["https://openalex.org/I32619867"]},{"raw_affiliation_string":"[Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology E-JUST- Alexandria, Egypt]","institution_ids":["https://openalex.org/I32619867"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113512761","display_name":"\u0410. \u0420\u0430\u043c\u0430\u0434\u0430\u043d","orcid":null},"institutions":[{"id":"https://openalex.org/I21376657","display_name":"Tanta University","ror":"https://ror.org/016jp5b92","country_code":"EG","type":"education","lineage":["https://openalex.org/I21376657"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed Ramadan","raw_affiliation_strings":["Computers and Automatic Control Dept., Tanta University, Tanta, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computers and Automatic Control Dept., Tanta University, Tanta, Egypt","institution_ids":["https://openalex.org/I21376657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005093773","display_name":"Hossam S. Abbass","orcid":null},"institutions":[{"id":"https://openalex.org/I91041137","display_name":"Assiut University","ror":"https://ror.org/01jaj8n65","country_code":"EG","type":"education","lineage":["https://openalex.org/I91041137"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Hossam S. Abbass","raw_affiliation_strings":["Electrical Engineering Dept., Assuit University, Assuit, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Dept., Assuit University, Assuit, Egypt","institution_ids":["https://openalex.org/I91041137"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113507405","display_name":"Ahmed Abo-Ismail","orcid":null},"institutions":[{"id":"https://openalex.org/I32619867","display_name":"Egypt-Japan University of Science and Technology","ror":"https://ror.org/02x66tk73","country_code":"EG","type":"education","lineage":["https://openalex.org/I32619867"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed Abo-Ismail","raw_affiliation_strings":["Mechatronics and Robotics Eng. Dept., Egypt-Japan University of Science and Technology, Egypt","[Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology E-JUST- Alexandria, Egypt]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics and Robotics Eng. Dept., Egypt-Japan University of Science and Technology, Egypt","institution_ids":["https://openalex.org/I32619867"]},{"raw_affiliation_string":"[Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology E-JUST- Alexandria, Egypt]","institution_ids":["https://openalex.org/I32619867"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8208,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.7636733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"270","last_page":"275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T12810","display_name":"Real-time simulation and control systems","score":0.9954000115394592,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8754377365112305},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8675657510757446},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7655830979347229},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7353160381317139},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6777409315109253},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6664533615112305},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.5830663442611694},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5793341398239136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5055708885192871},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.42840316891670227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33604735136032104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32239824533462524},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21407175064086914},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13170605897903442}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8754377365112305},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8675657510757446},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7655830979347229},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7353160381317139},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6777409315109253},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6664533615112305},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.5830663442611694},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5793341398239136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5055708885192871},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.42840316891670227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33604735136032104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32239824533462524},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21407175064086914},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13170605897903442},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2014.6957363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2014.6957363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.550000011920929,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W189462801","https://openalex.org/W191093449","https://openalex.org/W196254830","https://openalex.org/W1497280145","https://openalex.org/W1516447630","https://openalex.org/W1537842733","https://openalex.org/W1917860510","https://openalex.org/W1970425761","https://openalex.org/W2014547130","https://openalex.org/W2026661001","https://openalex.org/W2041521369","https://openalex.org/W2051526898","https://openalex.org/W2110284574","https://openalex.org/W2128488622","https://openalex.org/W2134427719","https://openalex.org/W2139107433","https://openalex.org/W2147148036","https://openalex.org/W2150751837","https://openalex.org/W2157306967","https://openalex.org/W2170441969","https://openalex.org/W2511750821","https://openalex.org/W2539083524","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W6607671504","https://openalex.org/W6685104389"],"related_works":["https://openalex.org/W2041698009","https://openalex.org/W2024927487","https://openalex.org/W1492838287","https://openalex.org/W2034778971","https://openalex.org/W2349578589","https://openalex.org/W2893549521","https://openalex.org/W2204278379","https://openalex.org/W2381121570","https://openalex.org/W2379721524","https://openalex.org/W2341932412"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,39,50,66,69,79,95,98,105,108,111,114],"stabilization":[4],"problem":[5],"of":[6,68,81,97,107,113],"loaded":[7,33],"double":[8,34],"inverted":[9,35],"pendulum":[10,36],"using":[11],"an":[12],"optimized":[13],"state":[14,40],"feedback":[15,41],"sliding":[16,42,70],"mode":[17,43,71],"control":[18,44,86],"is":[19,24,46,58],"investigated.":[20],"ADAMS/Matlab":[21],"co-simulation":[22],"environment":[23],"used":[25,63],"for":[26,32,48],"building":[27],"a":[28,75],"virtual":[29],"nonlinear":[30],"model":[31],"system":[37,99,115],"and":[38,93,110],"law":[45],"designed":[47],"stabilizing":[49],"system.":[51],"Mismatched":[52],"uncertainties":[53],"represented":[54],"by":[55],"payload":[56,117],"variations":[57],"considered.":[59],"Genetic":[60],"Algorithms":[61],"are":[62],"to":[64],"optimize":[65],"parameters":[67],"controller":[72],"based":[73],"on":[74],"performance":[76,96],"index":[77],"containing":[78],"sum":[80],"squared":[82],"errors.":[83],"The":[84],"proposed":[85],"scheme":[87],"can":[88],"significantly":[89],"suppress":[90],"chattering":[91],"effect":[92],"improves":[94],"against":[100,116],"uncertainties.":[101],"Simulation":[102],"results":[103],"show":[104],"effectiveness":[106],"approach":[109],"robustness":[112],"changes.":[118]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
