{"id":"https://openalex.org/W7131091041","doi":"https://doi.org/10.1109/robio66223.2025.11377701","title":"Neural-Network-Based Sliding Mode Trajectory Tracking Control of Tendon-Driven Space Flexible Manipulators*","display_name":"Neural-Network-Based Sliding Mode Trajectory Tracking Control of Tendon-Driven Space Flexible Manipulators*","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131091041","doi":"https://doi.org/10.1109/robio66223.2025.11377701"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377701","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/A5126591561","display_name":"Yihong Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihong Ye","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102691140","display_name":"Peineng Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peineng Zhong","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126597886","display_name":"Luming Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luming Zhang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121269699","display_name":"Deshan Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deshan Meng","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University,Shenzhen,China,518107","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100625992","display_name":"Fu Xi","orcid":"https://orcid.org/0000-0002-3495-6145"},"institutions":[{"id":"https://openalex.org/I4210094459","display_name":"Craft Group (China)","ror":"https://ror.org/00gxm5663","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210094459"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Fu","raw_affiliation_strings":["Second Research Institute of CAAC, Uncrewed Aircraft Intelligent Traffic Technology Center,Chengdu,Sichuan,China,610000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Second Research Institute of CAAC, Uncrewed Aircraft Intelligent Traffic Technology Center,Chengdu,Sichuan,China,610000","institution_ids":["https://openalex.org/I4210094459"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63976248,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"673","last_page":"678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.5382999777793884,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.5382999777793884,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.11309999972581863,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.054499998688697815,"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":0.8310999870300293},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7975000143051147},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5141000151634216},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5127000212669373},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5008999705314636},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4927999973297119},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4855000078678131},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.447299987077713},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.41269999742507935}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8310999870300293},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7975000143051147},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5141000151634216},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5127000212669373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.504800021648407},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5008999705314636},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4927999973297119},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4855000078678131},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45179998874664307},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.447299987077713},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.41269999742507935},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.40209999680519104},{"id":"https://openalex.org/C2778512855","wikidata":"https://www.wikidata.org/wiki/Q6036808","display_name":"Input shaping","level":4,"score":0.385699987411499},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.3799000084400177},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3727000057697296},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.35420000553131104},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.33719998598098755},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.32179999351501465},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.30730000138282776},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3059999942779541},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377701","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":[],"awards":[{"id":"https://openalex.org/G6910028213","display_name":null,"funder_award_id":"2024A1515030029","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2010849898","https://openalex.org/W2314521894","https://openalex.org/W2605701897","https://openalex.org/W2895632869","https://openalex.org/W2914695434","https://openalex.org/W2944612515","https://openalex.org/W2979729108","https://openalex.org/W3088011021","https://openalex.org/W4226160308","https://openalex.org/W4285133572","https://openalex.org/W4366548450","https://openalex.org/W4386006931","https://openalex.org/W4388544028","https://openalex.org/W4407247441"],"related_works":[],"abstract_inverted_index":{"Tendon-driven":[0],"space":[1,30,83],"manipulators,":[2,31],"characterized":[3],"by":[4],"their":[5],"large":[6],"span,":[7],"long":[8],"reach,":[9],"and":[10,48,107],"high":[11],"torque,":[12],"are":[13,144],"ideal":[14],"devices":[15],"for":[16,112],"future":[17],"on-orbit":[18,55],"construction":[19],"tasks.":[20],"However,":[21],"due":[22],"to":[23,97,103,130,146],"the":[24,37,45,52,77,81,99,109,148,151],"unique":[25],"structural":[26],"features":[27],"of":[28,51,80,150],"tendon-driven":[29,82],"residual":[32,105],"vibrations":[33,106],"often":[34],"occur":[35],"at":[36],"end-effector":[38],"during":[39,54],"point-to-point":[40],"motion,":[41],"which":[42],"severely":[43],"degrades":[44],"positioning":[46],"accuracy":[47],"dynamic":[49],"performance":[50],"manipulator":[53,85],"operations.":[56],"To":[57],"address":[58],"this":[59,61],"issue,":[60],"paper":[62],"proposes":[63],"a":[64,89,116,136],"control":[65,74],"strategy":[66],"that":[67],"combines":[68],"trajectory":[69,111,113,132],"planning":[70],"with":[71,135],"active":[72],"vibration":[73],"methods.":[75],"Firstly,":[76],"dynamics":[78],"model":[79],"flexible":[84],"is":[86,95,128],"established.":[87],"Then,":[88],"hybrid":[90],"particle":[91],"swarm":[92],"optimization":[93],"algorithm":[94],"given":[96],"optimize":[98],"motion":[100],"trajectory,":[101],"aiming":[102],"reduce":[104],"obtain":[108],"desired":[110],"tracking.":[114],"Furthermore,":[115],"neural":[117],"network":[118],"based":[119],"sliding":[120],"mode":[121],"controller":[122],"via":[123],"fully":[124],"actuated":[125],"system":[126],"approach":[127],"introduced":[129],"realize":[131],"tracking":[133],"control,":[134],"detailed":[137],"stability":[138],"analysis":[139],"presented.":[140],"Finally,":[141],"numerical":[142],"simulations":[143],"conducted":[145],"validate":[147],"effectiveness":[149],"proposed":[152],"method.":[153]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-24T00:00:00"}