{"id":"https://openalex.org/W1631467214","doi":"https://doi.org/10.1109/mmar.2015.7283877","title":"Robust control of nonlinear affine systems via second-order sliding mode","display_name":"Robust control of nonlinear affine systems via second-order sliding mode","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1631467214","doi":"https://doi.org/10.1109/mmar.2015.7283877","mag":"1631467214"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2015.7283877","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2015.7283877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5013017278","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0003-1036-0256"},"institutions":[{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hao Sun","raw_affiliation_strings":["Chair of Mechatronics, University of Rostock, Rostock, Germany","Chair of Mechatronics, University of Rostock, D - 18059 Rostock, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Mechatronics, University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924"]},{"raw_affiliation_string":"Chair of Mechatronics, University of Rostock, D - 18059 Rostock, Germany","institution_ids":["https://openalex.org/I4665924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061788743","display_name":"Harald Aschemann","orcid":"https://orcid.org/0000-0001-7789-5699"},"institutions":[{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Harald Aschemann","raw_affiliation_strings":["Chair of Mechatronics, University of Rostock, Rostock, Germany","Chair of Mechatronics, University of Rostock, D - 18059 Rostock, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Mechatronics, University of Rostock, Rostock, Germany","institution_ids":["https://openalex.org/I4665924"]},{"raw_affiliation_string":"Chair of Mechatronics, University of Rostock, D - 18059 Rostock, Germany","institution_ids":["https://openalex.org/I4665924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4665924"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"223","last_page":"228"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":1.0,"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":1.0,"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":0.9968000054359436,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"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/control-theory","display_name":"Control theory (sociology)","score":0.8664498329162598},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7811894416809082},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7659313678741455},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6238307952880859},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5673860907554626},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5305823683738708},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.5197439193725586},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4607992470264435},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4516044855117798},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4402756094932556},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4150044322013855},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40660884976387024},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17819824814796448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07680201530456543},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07553645968437195}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8664498329162598},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7811894416809082},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7659313678741455},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6238307952880859},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5673860907554626},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5305823683738708},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.5197439193725586},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4607992470264435},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4516044855117798},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4402756094932556},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4150044322013855},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40660884976387024},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17819824814796448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07680201530456543},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07553645968437195},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2015.7283877","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2015.7283877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W173653310","https://openalex.org/W582526786","https://openalex.org/W1498561008","https://openalex.org/W1581952967","https://openalex.org/W1845306153","https://openalex.org/W1983584636","https://openalex.org/W1992476983","https://openalex.org/W1999558720","https://openalex.org/W2001793560","https://openalex.org/W2040721920","https://openalex.org/W2062278601","https://openalex.org/W2082930997","https://openalex.org/W2098646051","https://openalex.org/W2103703000","https://openalex.org/W2119669728","https://openalex.org/W2132660967","https://openalex.org/W2134668622","https://openalex.org/W2191637160","https://openalex.org/W2503257668","https://openalex.org/W3181736249","https://openalex.org/W6665754319","https://openalex.org/W7043598618"],"related_works":["https://openalex.org/W2166459078","https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2274682661","https://openalex.org/W2142014702","https://openalex.org/W2306349892","https://openalex.org/W897560829","https://openalex.org/W2375807149"],"abstract_inverted_index":{"A":[0],"model-based":[1],"robust":[2,78],"nonlinear":[3,13,38,79,96],"control":[4,45,80,87],"via":[5],"second-order":[6,42],"sliding":[7,43],"mode":[8,44],"for":[9,32],"a":[10,33,41,60,89,94],"class":[11],"of":[12,25,29,35,72,88,112],"affine":[14],"systems":[15],"is":[16,82,93],"presented":[17],"in":[18],"this":[19],"paper.":[20],"The":[21,104],"proposed":[22,114],"approach":[23,81],"consists":[24],"the":[26,30,36,49,56,63,77,85,110,113],"inverse":[27],"dynamics":[28],"system":[31,97],"compensation":[34],"nominal":[37],"terms":[39],"and":[40,68,101,106],"to":[46,84],"deal":[47],"with":[48,98],"given":[50],"parameter":[51,99],"uncertainty":[52,100],"as":[53,55],"well":[54],"unknown":[57,102],"disturbances.":[58,103],"Within":[59],"stability":[61,64],"analysis,":[62],"conditions":[65],"are":[66],"derived":[67],"proved":[69],"by":[70],"means":[71],"Lyapunov's":[73],"second":[74],"method.":[75,115],"Moreover,":[76],"applied":[83],"tracking":[86],"hydrostatic":[90],"transmission,":[91],"which":[92],"typical":[95],"simulation":[105],"experimental":[107],"results":[108],"highlight":[109],"applicability":[111]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}