{"id":"https://openalex.org/W4206094816","doi":"https://doi.org/10.1109/smc52423.2021.9659075","title":"Adaptive Neural Network Based Sliding Mode Control of Continuum Robots with Mismatched Uncertainties","display_name":"Adaptive Neural Network Based Sliding Mode Control of Continuum Robots with Mismatched Uncertainties","publication_year":2021,"publication_date":"2021-10-17","ids":{"openalex":"https://openalex.org/W4206094816","doi":"https://doi.org/10.1109/smc52423.2021.9659075"},"language":"en","primary_location":{"id":"doi:10.1109/smc52423.2021.9659075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc52423.2021.9659075","pdf_url":null,"source":{"id":"https://openalex.org/S4363607761","display_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5020023819","display_name":"Ahmad Abu Alqumsan","orcid":"https://orcid.org/0000-0001-9651-0846"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ahmad Abu Alqumsan","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation, Deakin University, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081405027","display_name":"Suiyang Khoo","orcid":"https://orcid.org/0000-0003-0455-2710"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Suiyang Khoo","raw_affiliation_strings":["School of Engineering, Deakin University, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Deakin University, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019889615","display_name":"Adetokunbo Arogbonlo","orcid":"https://orcid.org/0000-0002-4524-8267"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Adetokunbo Arogbonlo","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation, Deakin University, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091421195","display_name":"Saeid Nahavand","orcid":null},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Saeid Nahavand","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation, Deakin University, VIC, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I149704539"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2602","last_page":"2607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9672999978065491,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9419000148773193,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7312949895858765},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6321699619293213},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6285078525543213},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6248905658721924},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5893979072570801},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.587969183921814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5552710890769958},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5541488528251648},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.522629976272583},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4150405526161194},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28541630506515503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25922852754592896},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19046524167060852}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7312949895858765},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6321699619293213},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6285078525543213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6248905658721924},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5893979072570801},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.587969183921814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5552710890769958},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5541488528251648},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.522629976272583},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4150405526161194},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28541630506515503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25922852754592896},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19046524167060852},{"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/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc52423.2021.9659075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc52423.2021.9659075","pdf_url":null,"source":{"id":"https://openalex.org/S4363607761","display_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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":32,"referenced_works":["https://openalex.org/W1997060717","https://openalex.org/W2001803686","https://openalex.org/W2053614949","https://openalex.org/W2078511326","https://openalex.org/W2082043116","https://openalex.org/W2122628132","https://openalex.org/W2406410409","https://openalex.org/W2414073787","https://openalex.org/W2510278122","https://openalex.org/W2527057332","https://openalex.org/W2559753095","https://openalex.org/W2770049904","https://openalex.org/W2782435507","https://openalex.org/W2790147543","https://openalex.org/W2793556869","https://openalex.org/W2802271488","https://openalex.org/W2892159784","https://openalex.org/W2893591777","https://openalex.org/W2961474931","https://openalex.org/W2982703088","https://openalex.org/W2986098516","https://openalex.org/W3035675914","https://openalex.org/W3045577553","https://openalex.org/W3048090341","https://openalex.org/W3080406417","https://openalex.org/W3093636714","https://openalex.org/W3093638664","https://openalex.org/W3106591923","https://openalex.org/W3120389665","https://openalex.org/W3121416177","https://openalex.org/W3133156511","https://openalex.org/W6713399122"],"related_works":["https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W2319803529","https://openalex.org/W1562326332","https://openalex.org/W1550017747","https://openalex.org/W2152839317","https://openalex.org/W2913641967"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,82,100],"are":[2,107,175],"utilized":[3],"in":[4,15,60,80,127],"applications":[5],"where":[6],"a":[7,18,36],"high-level":[8],"accuracy":[9],"and":[10,27,48,92,106],"delicacy":[11],"is":[12,42,55,64,76,141],"desired,":[13],"which":[14,61],"return":[16],"demand":[17],"robust":[19,32],"control":[20,33,125,168,184],"design.":[21],"However,":[22],"due":[23,84,152],"to":[24,66,70,78,85,143,153,169,177],"their":[25,86,104],"nonlinearity":[26],"elasticity,":[28],"this":[29,118],"task":[30],"of":[31,103,148,181],"design":[34],"presents":[35],"steep":[37],"challenge.":[38],"A":[39],"challenge":[40],"that":[41],"mostly":[43],"simplified":[44],"through":[45],"restrictive":[46],"modelling":[47],"operating":[49,94],"assumptions.":[50],"One":[51],"common":[52],"assumption":[53,75],"used":[54,142],"the":[56,62,112,121,145,149,179,182],"uncertainty":[57],"matching":[58],"condition,":[59],"controller":[63],"expected":[65],"have":[67],"direct":[68],"access":[69],"any":[71,102],"affecting":[72],"uncertainty.":[73],"This":[74],"difficult":[77],"justify":[79],"continuum":[81,99,150],"as":[83,133],"high":[87],"nonlinear":[88],"dynamics,":[89],"practical":[90],"limitations,":[91],"congested":[93],"environments.":[95],"Uncertainties":[96],"could":[97],"affect":[98],"from":[101],"states":[105],"not":[108],"necessarily":[109],"reachable":[110],"by":[111],"controller.":[113],"Here,":[114],"we":[115,157],"will":[116],"solve":[117],"problem":[119],"using":[120],"multi-surface":[122,165],"sliding":[123,166],"mode":[124,167],"technique":[126],"combination":[128],"with":[129],"RBF":[130,161],"neural":[131,162],"networks":[132],"our":[134],"uncertainties":[135],"approximators.":[136],"First,":[137],"Cosserat":[138],"rod":[139],"theory":[140],"derive":[144],"dynamic":[146],"model":[147],"robot":[151],"its":[154],"generality.":[155],"Then,":[156],"propose":[158],"an":[159],"adaptive":[160],"network":[163],"based":[164],"guarantee":[170],"tracking":[171],"stability.":[172],"Simulation":[173],"results":[174],"included":[176],"verify":[178],"effectiveness":[180],"proposed":[183],"scheme.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}