{"id":"https://openalex.org/W7131080190","doi":"https://doi.org/10.1109/robio66223.2025.11377328","title":"Adaptive Force Control for Robotic Polishing Based on Sliding Mode Control with Nominal Model","display_name":"Adaptive Force Control for Robotic Polishing Based on Sliding Mode Control with Nominal Model","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131080190","doi":"https://doi.org/10.1109/robio66223.2025.11377328"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5126049389","display_name":"Jian Li","orcid":null},"institutions":[{"id":"https://openalex.org/I3130751423","display_name":"Shaoguan University","ror":"https://ror.org/0286g6711","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130751423"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Li","raw_affiliation_strings":["School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005","institution_ids":["https://openalex.org/I3130751423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126583723","display_name":"Jiahuang Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I3130751423","display_name":"Shaoguan University","ror":"https://ror.org/0286g6711","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130751423"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahuang Yu","raw_affiliation_strings":["School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005","institution_ids":["https://openalex.org/I3130751423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036246833","display_name":"Chaoxiong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I3130751423","display_name":"Shaoguan University","ror":"https://ror.org/0286g6711","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130751423"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoxiong Li","raw_affiliation_strings":["School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005","institution_ids":["https://openalex.org/I3130751423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126629744","display_name":"Guowen Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I3130751423","display_name":"Shaoguan University","ror":"https://ror.org/0286g6711","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130751423"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowen Huang","raw_affiliation_strings":["School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005","institution_ids":["https://openalex.org/I3130751423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040144876","display_name":"Hongmin Wu","orcid":"https://orcid.org/0000-0001-8517-5296"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongmin Wu","raw_affiliation_strings":["Institute of Intelligent Manufacturing, Guangdong Academy of Sciences,Guangzhou,China,510070"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing, Guangdong Academy of Sciences,Guangzhou,China,510070","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060814040","display_name":"Songxi Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I3130751423","display_name":"Shaoguan University","ror":"https://ror.org/0286g6711","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130751423"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songxi Hu","raw_affiliation_strings":["School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005","institution_ids":["https://openalex.org/I3130751423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015751099","display_name":"Zhuohao Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I3130751423","display_name":"Shaoguan University","ror":"https://ror.org/0286g6711","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130751423"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuohao Guo","raw_affiliation_strings":["School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005","institution_ids":["https://openalex.org/I3130751423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126620237","display_name":"Jie Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jie Hong","raw_affiliation_strings":["The University of Hong Kong, Hong Kong SAR,Faculty of Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong, Hong Kong SAR,Faculty of Engineering,China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126056854","display_name":"Weihua Song","orcid":null},"institutions":[{"id":"https://openalex.org/I3130751423","display_name":"Shaoguan University","ror":"https://ror.org/0286g6711","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130751423"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Song","raw_affiliation_strings":["School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering, Shaoguan University,Shaoguan,China,512005","institution_ids":["https://openalex.org/I3130751423"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5126049389"],"corresponding_institution_ids":["https://openalex.org/I3130751423"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.58909394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1812","last_page":"1817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.41130000352859497,"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"}},"topics":[{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.41130000352859497,"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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.13030000030994415,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.07859999686479568,"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":0.7343999743461609},{"id":"https://openalex.org/keywords/polishing","display_name":"Polishing","score":0.666700005531311},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.6406000256538391},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.512499988079071},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4893999993801117},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48240000009536743},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.45179998874664307},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4259999990463257},{"id":"https://openalex.org/keywords/white-noise","display_name":"White noise","score":0.41940000653266907}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7343999743461609},{"id":"https://openalex.org/C138113353","wikidata":"https://www.wikidata.org/wiki/Q611639","display_name":"Polishing","level":2,"score":0.666700005531311},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.6406000256538391},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.531499981880188},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.512499988079071},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4893999993801117},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48240000009536743},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46549999713897705},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.45179998874664307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44209998846054077},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4259999990463257},{"id":"https://openalex.org/C112633086","wikidata":"https://www.wikidata.org/wiki/Q381287","display_name":"White noise","level":2,"score":0.41940000653266907},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.37209999561309814},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3675999939441681},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3668999969959259},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.3490000069141388},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3400000035762787},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3353999853134155},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C5941749","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Machine tool","level":2,"score":0.3264000117778778},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3190000057220459},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3176000118255615},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C175457265","wikidata":"https://www.wikidata.org/wiki/Q190247","display_name":"Numerical control","level":3,"score":0.296999990940094},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.27300000190734863}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7742792367935181,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2049369997","https://openalex.org/W2620810193","https://openalex.org/W3086549762","https://openalex.org/W3157327332","https://openalex.org/W4288706073","https://openalex.org/W4309947076","https://openalex.org/W4312849954","https://openalex.org/W4319874292"],"related_works":[],"abstract_inverted_index":{"With":[0],"the":[1,85,110,117],"increasing":[2],"demand":[3],"for":[4,123],"machining":[5],"accuracy":[6],"in":[7,53,105],"manufacturing":[8],"industry,":[9],"robotic":[10,54],"polishing":[11,55],"has":[12],"emerged":[13],"as":[14],"a":[15,32,38,45,60,64,71,121],"key":[16],"technology":[17],"to":[18,49,92],"replace":[19],"manual":[20],"labor.":[21],"However,":[22],"maintaining":[23],"precise":[24],"contact":[25],"force":[26],"control":[27,42,118],"under":[28,97],"various":[29,125],"disturbances":[30],"remains":[31],"critical":[33],"challenge.":[34],"This":[35],"paper":[36],"proposes":[37],"novel":[39],"sliding":[40,72],"mode":[41,73],"approach":[43],"incorporating":[44],"nominal":[46,65],"model":[47,66],"(SMCNM)":[48],"enhance":[50],"disturbance":[51],"rejection":[52],"systems.":[56],"The":[57],"controller":[58],"employs":[59],"dual-loop":[61],"structure":[62,119],"where":[63],"provides":[67,120],"reference":[68],"trajectories":[69],"and":[70,78],"compensator":[74],"handles":[75],"parameter":[76],"uncertainties":[77],"external":[79],"disturbances.":[80,127],"Simulation":[81],"results":[82],"demonstrate":[83],"that":[84],"proposed":[86],"SMC-NM":[87],"achieves":[88],"superior":[89],"performance":[90],"compared":[91],"conventional":[93],"PID":[94],"control,":[95],"particularly":[96],"white":[98,115],"noise":[99],"disturbances,":[100],"with":[101],"approximately":[102],"50%":[103],"reduction":[104],"peak":[106],"tracking":[107],"error.":[108],"While":[109],"current":[111],"validation":[112],"focuses":[113],"on":[114],"noise,":[116],"foundation":[122],"handling":[124],"industrial":[126]},"counts_by_year":[],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-02-24T00:00:00"}
