{"id":"https://openalex.org/W2289143454","doi":"https://doi.org/10.1109/robio.2015.7418939","title":"Nonsingular terminal sliding-mode control for nonlinear robot manipulators with uncertain parameters","display_name":"Nonsingular terminal sliding-mode control for nonlinear robot manipulators with uncertain parameters","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2289143454","doi":"https://doi.org/10.1109/robio.2015.7418939","mag":"2289143454"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5031146697","display_name":"Yong Yang","orcid":"https://orcid.org/0000-0001-6368-4313"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yong Yang","raw_affiliation_strings":["School of Automotive Engineering, Guangdong Polytechnic Normal University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Guangdong Polytechnic Normal University, Guangzhou, China","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101688278","display_name":"Heping Chen","orcid":"https://orcid.org/0000-0002-1045-8977"},"institutions":[{"id":"https://openalex.org/I13511017","display_name":"Texas State University","ror":"https://ror.org/05h9q1g27","country_code":"US","type":"education","lineage":["https://openalex.org/I13511017"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heping Chen","raw_affiliation_strings":["Ingram School of Engineering, Texas State University, San Marcos, Texas, USA"],"affiliations":[{"raw_affiliation_string":"Ingram School of Engineering, Texas State University, San Marcos, Texas, USA","institution_ids":["https://openalex.org/I13511017"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101475577","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0003-3591-6206"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["College of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I1328775524"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031146697"],"corresponding_institution_ids":["https://openalex.org/I4210122543"],"apc_list":null,"apc_paid":null,"fwci":0.3366,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67204075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1227","last_page":"1232"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9983000159263611,"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/T13644","display_name":"Control Systems in Engineering","score":0.9980000257492065,"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/control-theory","display_name":"Control theory (sociology)","score":0.8808850049972534},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.8691501617431641},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8194699287414551},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.6760374307632446},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6580445766448975},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5539921522140503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5290241241455078},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.5258092284202576},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46256551146507263},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33665791153907776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29756540060043335},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29536330699920654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14453446865081787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09996148943901062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06757023930549622}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8808850049972534},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.8691501617431641},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8194699287414551},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.6760374307632446},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6580445766448975},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5539921522140503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5290241241455078},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.5258092284202576},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46256551146507263},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33665791153907776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29756540060043335},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29536330699920654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14453446865081787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09996148943901062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06757023930549622},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418939","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1480419575","https://openalex.org/W1487127700","https://openalex.org/W1554473947","https://openalex.org/W1990042683","https://openalex.org/W1994323041","https://openalex.org/W1999558720","https://openalex.org/W2001793560","https://openalex.org/W2004290356","https://openalex.org/W2014549603","https://openalex.org/W2018851823","https://openalex.org/W2025939589","https://openalex.org/W2032230578","https://openalex.org/W2044548198","https://openalex.org/W2046485500","https://openalex.org/W2090956093","https://openalex.org/W2091198516","https://openalex.org/W2117181723","https://openalex.org/W2127001921","https://openalex.org/W2144487083","https://openalex.org/W2149688865","https://openalex.org/W2155497465","https://openalex.org/W2380957678","https://openalex.org/W2922792548","https://openalex.org/W3041454440","https://openalex.org/W4285719527","https://openalex.org/W6705014384"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W1995636945","https://openalex.org/W4214925198","https://openalex.org/W2088371781","https://openalex.org/W1788310316"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"effective":[4],"nonsingular":[5,96,115],"terminal":[6,39],"sliding-mode":[7,67],"controller":[8,68,93],"(TSMC)":[9],"for":[10],"nonlinear":[11,80],"robot":[12,83],"manipulators":[13],"to":[14,45,50,52,74,104],"obtain":[15],"higher":[16],"precision":[17,34],"as":[18,20],"well":[19],"stronger":[21],"robustness.":[22,36],"In":[23],"general":[24],"SMC":[25],"systems,":[26],"there":[27],"exists":[28],"a":[29,65,79],"paradox":[30],"of":[31,78,108],"balancing":[32],"steady-state":[33],"and":[35,72,94],"First,":[37],"the":[38,53,57,75,106,109],"sliding":[40,58],"mode":[41,59],"surface":[42,60],"is":[43],"designed":[44],"guarantee":[46],"any":[47],"initial":[48],"states":[49],"converge":[51],"original":[54],"point":[55],"along":[56],"in":[61],"finite":[62],"time.":[63],"Then,":[64],"chattering-free":[66],"has":[69],"been":[70],"developed":[71],"applied":[73],"trajectory":[76],"tracking":[77,122],"four-joint":[81],"SCARA":[82],"manipulator":[84],"with":[85],"parameter":[86],"uncertainties.":[87],"Robot":[88],"performances":[89],"using":[90],"traditional":[91],"PD+FF":[92],"this":[95],"TSMC":[97,116],"were":[98],"compared.":[99],"Simulation":[100],"results":[101],"are":[102],"presented":[103],"verify":[105],"effectiveness":[107],"proposed":[110,114],"control":[111],"approach.":[112],"The":[113],"can":[117],"not":[118],"only":[119],"provide":[120],"excellent":[121],"performance":[123],"but":[124],"also":[125],"eliminate":[126],"chattering.":[127]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}