{"id":"https://openalex.org/W2774489952","doi":"https://doi.org/10.1109/ssd.2017.8167002","title":"Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation","display_name":"Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2774489952","doi":"https://doi.org/10.1109/ssd.2017.8167002","mag":"2774489952"},"language":"en","primary_location":{"id":"doi:10.1109/ssd.2017.8167002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2017.8167002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Multi-Conference on Systems, Signals &amp; Devices (SSD)","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/A5075850299","display_name":"Brahim Brahmi","orcid":"https://orcid.org/0000-0002-4486-0710"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"B. Brahmi","raw_affiliation_strings":["Electrical Engineering Department, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063495088","display_name":"Maarouf Saad","orcid":"https://orcid.org/0000-0003-2547-2509"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Saad","raw_affiliation_strings":["Electrical Engineering Department, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070346814","display_name":"Crist\u00f3bal Ochoa-Luna","orcid":"https://orcid.org/0000-0002-3251-3797"},"institutions":[{"id":"https://openalex.org/I4210127220","display_name":"Centre for Interdisciplinary Research in Rehabilitation","ror":"https://ror.org/031yz7195","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127220"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Cristobal Ochoa Luna","raw_affiliation_strings":["School of Physical & Occupational Therapy, Centre for Interdisciplinary Research in Rehabilitation of Greater Montreal, Montreal, QC, Canada"],"affiliations":[{"raw_affiliation_string":"School of Physical & Occupational Therapy, Centre for Interdisciplinary Research in Rehabilitation of Greater Montreal, Montreal, QC, Canada","institution_ids":["https://openalex.org/I4210127220"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001664816","display_name":"Mohammad Habibur Rahman","orcid":"https://orcid.org/0000-0002-6370-8757"},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. H. Rahman","raw_affiliation_strings":["Mechanical Engineering Department, University of Wisconsin-Milwaukee, Wisconsin, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Wisconsin-Milwaukee, Wisconsin, USA","institution_ids":["https://openalex.org/I43579087"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075850299"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":0.2012,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55476607,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"56","issue":null,"first_page":"817","last_page":"822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9947999715805054,"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":0.9947999715805054,"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":0.9887999892234802,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9797000288963318,"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":0.8328602313995361},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.742030680179596},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6739612221717834},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6359829306602478},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6357970237731934},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5919678807258606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5634490251541138},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5613728761672974},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4550822675228119},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3316907286643982},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24531254172325134},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23437532782554626},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.14565256237983704},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13357067108154297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11693495512008667}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8328602313995361},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.742030680179596},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6739612221717834},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6359829306602478},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6357970237731934},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5919678807258606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5634490251541138},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5613728761672974},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4550822675228119},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3316907286643982},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24531254172325134},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23437532782554626},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.14565256237983704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13357067108154297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11693495512008667},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/ssd.2017.8167002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2017.8167002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Multi-Conference on Systems, Signals &amp; Devices (SSD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W102403351","https://openalex.org/W139131351","https://openalex.org/W575905749","https://openalex.org/W1487127700","https://openalex.org/W1523542121","https://openalex.org/W1985577673","https://openalex.org/W2060192131","https://openalex.org/W2061653522","https://openalex.org/W2062691475","https://openalex.org/W2074465517","https://openalex.org/W2129518264","https://openalex.org/W2134668622","https://openalex.org/W2166452470","https://openalex.org/W2343693428","https://openalex.org/W2500362811","https://openalex.org/W2501397819","https://openalex.org/W2569489666","https://openalex.org/W2989101263","https://openalex.org/W4246923680","https://openalex.org/W6724253771","https://openalex.org/W6770271620"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2037256685","https://openalex.org/W2263873476","https://openalex.org/W2027596989","https://openalex.org/W2061385667","https://openalex.org/W2123479323"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,20,42,47],"Cartesian":[4,44],"adaptive":[5],"control":[6,88],"based":[7],"on":[8],"robust":[10],"Sliding":[11],"Mode":[12],"and":[13,31,36,46,100],"Time":[14],"Delay":[15],"Estimation":[16],"(CSMTDE)":[17],"for":[18],"controlling":[19],"redundant":[21],"exoskeleton":[22],"robot":[23],"called":[24],"ETS-MARSE":[25],"subject":[26],"to":[27,89],"uncertain":[28],"nonlinear":[29,59],"dynamics":[30],"external":[32,101],"forces.":[33],"The":[34,51,62],"robustness":[35],"accuracy":[37],"are":[38],"achieved":[39],"by":[40,57],"selecting":[41],"sliding":[43,48],"surface":[45],"joint":[49],"surface.":[50],"combination":[52],"between":[53],"them":[54],"is":[55,69],"done":[56],"the":[58,65,76,83,86,95],"Jacobian":[60],"matrix.":[61],"stability":[63],"of":[64,75,85,97],"closed":[66],"loop":[67],"system":[68],"solved":[70],"systematically,":[71],"ensuring":[72],"asymptotic":[73],"convergence":[74],"output":[77],"tracking":[78],"errors.":[79],"Simulation":[80],"results":[81],"manifest":[82],"efficiency":[84],"suggested":[87],"provide":[90],"an":[91],"excellent":[92],"performance":[93],"despite":[94],"presence":[96],"dynamic":[98],"uncertainties":[99],"disturbances.":[102]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
