{"id":"https://openalex.org/W3164949067","doi":"https://doi.org/10.1109/ssd52085.2021.9429461","title":"Modified Fast Terminal Super-Twisting Control for Uncertain Robot Manipulators","display_name":"Modified Fast Terminal Super-Twisting Control for Uncertain Robot Manipulators","publication_year":2021,"publication_date":"2021-03-22","ids":{"openalex":"https://openalex.org/W3164949067","doi":"https://doi.org/10.1109/ssd52085.2021.9429461","mag":"3164949067"},"language":"en","primary_location":{"id":"doi:10.1109/ssd52085.2021.9429461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd52085.2021.9429461","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Multi-Conference on Systems, Signals & 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/A5082160203","display_name":"Walid Alqaisi","orcid":"https://orcid.org/0000-0002-6094-288X"},"institutions":[{"id":"https://openalex.org/I4210136017","display_name":"University of Doha for Science and Technology","ror":"https://ror.org/041ddxq18","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210136017"]}],"countries":["QA"],"is_corresponding":true,"raw_author_name":"Walid Alqaisi","raw_affiliation_strings":["School of Engineering Technology, College of the North Atlantic-Qatar,Doha,Qatar","School of Engineering Technology, College of the North Atlantic-Qatar, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"School of Engineering Technology, College of the North Atlantic-Qatar,Doha,Qatar","institution_ids":["https://openalex.org/I4210136017"]},{"raw_affiliation_string":"School of Engineering Technology, College of the North Atlantic-Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I4210136017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069387411","display_name":"Yassine Kali","orcid":"https://orcid.org/0000-0001-7887-1584"},"institutions":[{"id":"https://openalex.org/I159129438","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Montr\u00e9al","ror":"https://ror.org/002rjbv21","country_code":"CA","type":"education","lineage":["https://openalex.org/I159129438","https://openalex.org/I49663120"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yassine Kali","raw_affiliation_strings":["University of Quebec (ÉTS),Department of Electrical Engineering,Montreal,Canada,H3C 1K3"],"affiliations":[{"raw_affiliation_string":"University of Quebec (ÉTS),Department of Electrical Engineering,Montreal,Canada,H3C 1K3","institution_ids":["https://openalex.org/I159129438"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058425001","display_name":"Claude Ziad El\u2010Bayeh","orcid":"https://orcid.org/0000-0002-8268-8878"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Claude Ziad El-Bayeh","raw_affiliation_strings":["Concordia University,Canada Excellence Research Chairs Team,Montreal,Canada,H3H 2L3"],"affiliations":[{"raw_affiliation_string":"Concordia University,Canada Excellence Research Chairs Team,Montreal,Canada,H3H 2L3","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5082160203"],"corresponding_institution_ids":["https://openalex.org/I4210136017"],"apc_list":null,"apc_paid":null,"fwci":0.4162,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60038787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1142","last_page":"1147"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9934999942779541,"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":0.9904000163078308,"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":0.8307832479476929},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.6529980897903442},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5972071886062622},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.5921427011489868},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5896835923194885},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5441438555717468},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5368118286132812},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5063632726669312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5004312992095947},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.477762371301651},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4765787124633789},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4626840651035309},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.44699418544769287},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4392211139202118},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2757585644721985},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18201977014541626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1488928496837616}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8307832479476929},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6529980897903442},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5972071886062622},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.5921427011489868},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5896835923194885},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5441438555717468},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5368118286132812},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5063632726669312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5004312992095947},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.477762371301651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4765787124633789},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4626840651035309},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44699418544769287},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4392211139202118},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2757585644721985},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18201977014541626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1488928496837616},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssd52085.2021.9429461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd52085.2021.9429461","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 18th International Multi-Conference on Systems, Signals & Devices (SSD)","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":34,"referenced_works":["https://openalex.org/W1497970874","https://openalex.org/W1516289514","https://openalex.org/W1516447630","https://openalex.org/W1537842733","https://openalex.org/W1986411007","https://openalex.org/W1990777642","https://openalex.org/W1996907503","https://openalex.org/W2018851823","https://openalex.org/W2023339343","https://openalex.org/W2032278511","https://openalex.org/W2044668736","https://openalex.org/W2051526898","https://openalex.org/W2062691475","https://openalex.org/W2076062920","https://openalex.org/W2087071250","https://openalex.org/W2089161570","https://openalex.org/W2129518264","https://openalex.org/W2144426941","https://openalex.org/W2146356627","https://openalex.org/W2150137810","https://openalex.org/W2294731800","https://openalex.org/W2343881118","https://openalex.org/W2420367108","https://openalex.org/W2530897644","https://openalex.org/W2791119367","https://openalex.org/W2883114992","https://openalex.org/W2887090329","https://openalex.org/W2983106697","https://openalex.org/W2990585150","https://openalex.org/W3037090572","https://openalex.org/W4234398551","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W6629679467"],"related_works":["https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W2026490863","https://openalex.org/W1996877595","https://openalex.org/W2366743900","https://openalex.org/W2389929639","https://openalex.org/W2369313712","https://openalex.org/W2380496977","https://openalex.org/W2351548249","https://openalex.org/W2099967431"],"abstract_inverted_index":{"The":[0,37,77],"objective":[1],"of":[2,10,26,53,130],"this":[3,41],"work":[4],"is":[5,101,115],"to":[6,32,127,134],"improve":[7],"tracking":[8,24,88,132],"control":[9,113],"uncertain":[11],"robotic":[12],"manipulator":[13],"systems.":[14],"Parameter":[15],"variations,":[16],"unmodeled":[17],"dynamics":[18],"and":[19,57,68,94,106],"unknown":[20],"perturbations":[21],"affect":[22],"the":[23,54,70,91,96,110,121,131],"performance":[25],"robots":[27],"which":[28,62],"add":[29],"more":[30],"challenges":[31],"a":[33,44,50,58],"model-based":[34],"nonlinear":[35,73,112],"controller.":[36],"proposed":[38,111],"approach":[39],"in":[40,72,125],"paper":[42],"utilises":[43],"modified":[45,79],"terminal":[46,74,81],"super-twisting":[47,82,123],"that":[48,109],"has":[49],"dynamic":[51],"model":[52],"sliding":[55],"function":[56],"new":[59],"stability":[60],"conditions":[61],"ensures":[63,84],"good":[64],"tracking,":[65],"prevents":[66],"chattering":[67,97,119],"resolves":[69],"singularity":[71,92],"switching":[75],"functions.":[76],"developed":[78],"fast":[80],"controller":[83],"accurate":[85],"joint":[86],"position":[87],"while":[89],"bypassing":[90],"problem":[93],"removing":[95],"phenomenon.":[98],"Finally,":[99],"it":[100],"shown":[102],"through":[103],"analytical":[104],"analysis":[105],"numerical":[107],"simulations":[108],"technique":[114],"robust,":[116],"presents":[117],"less":[118],"than":[120],"standard":[122],"algorithm":[124],"addition":[126],"faster":[128],"convergence":[129],"error":[133],"zero.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}