{"id":"https://openalex.org/W2113454792","doi":"https://doi.org/10.1109/tac.2011.2159420","title":"Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations","display_name":"Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations","publication_year":2011,"publication_date":"2011-06-20","ids":{"openalex":"https://openalex.org/W2113454792","doi":"https://doi.org/10.1109/tac.2011.2159420","mag":"2113454792"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2011.2159420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2011.2159420","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-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/A5068220737","display_name":"Matteo Rubagotti","orcid":"https://orcid.org/0000-0002-3674-1455"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Rubagotti","raw_affiliation_strings":["Department of Mechanical and Structural Engineering, Universit\u00e0 degli Studi di Trento, Trento, Italy","Dept. of Mech. & Struct. Eng., Univ. degli Studi di Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Structural Engineering, Universit\u00e0 degli Studi di Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Dept. of Mech. & Struct. Eng., Univ. degli Studi di Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017816909","display_name":"Antonio Estrada","orcid":"https://orcid.org/0000-0002-0864-1262"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Antonio Estrada","raw_affiliation_strings":["Department of Control and Robotics, Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico City, Mexico","Dept. of Control & Robot., Univ. Nac. Autonoma de Mexico (UNAM), Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Robotics, Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico City, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":"Dept. of Control & Robot., Univ. Nac. Autonoma de Mexico (UNAM), Mexico City, Mexico","institution_ids":["https://openalex.org/I8961855"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025524300","display_name":"Fernando Casta\u00f1os","orcid":"https://orcid.org/0000-0002-0389-7955"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Fernando Castanos","raw_affiliation_strings":["McGill Center for Intelligent Machines, Montreal, Quebec, Canada","McGill Center for Intell. Machines, Montreal, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"McGill Center for Intelligent Machines, Montreal, Quebec, Canada","institution_ids":[]},{"raw_affiliation_string":"McGill Center for Intell. Machines, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073649425","display_name":"Antonella Ferrara","orcid":"https://orcid.org/0000-0002-1977-8248"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonella Ferrara","raw_affiliation_strings":["Department of Computer Engineering and Systems Science, Universit\u00e0 degli Studi di Pavia, Pavia, Italy","Dept. of Comput. Eng. & Syst. Sci., Univ. degli Studi di Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Systems Science, Universit\u00e0 degli Studi di Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]},{"raw_affiliation_string":"Dept. of Comput. Eng. & Syst. Sci., Univ. degli Studi di Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032593897","display_name":"Leonid Fridman","orcid":"https://orcid.org/0000-0003-0208-3615"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]},{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Leonid Fridman","raw_affiliation_strings":["Department of Control and Robotics, Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico City, Mexico","Dept. de Control Automatico, CINVESTAV-IPN, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Robotics, Universidad Nacional Aut\u00f3noma de M\u00e9xico (UNAM), Mexico City, Mexico","institution_ids":["https://openalex.org/I8961855"]},{"raw_affiliation_string":"Dept. de Control Automatico, CINVESTAV-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.0285,"has_fulltext":false,"cited_by_count":298,"citation_normalized_percentile":{"value":0.99396501,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"56","issue":"11","first_page":"2699","last_page":"2704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9987000226974487,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.8826593160629272},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.7968659400939941},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7015678882598877},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6913782954216003},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6709966063499451},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.6644138097763062},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.5414226055145264},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.505327045917511},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.44633162021636963},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4394099712371826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4124252200126648},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33928653597831726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2623242139816284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16413995623588562},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12302803993225098},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06597089767456055},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.06429785490036011}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8826593160629272},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.7968659400939941},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7015678882598877},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6913782954216003},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6709966063499451},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.6644138097763062},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5414226055145264},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.505327045917511},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.44633162021636963},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4394099712371826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4124252200126648},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33928653597831726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2623242139816284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16413995623588562},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12302803993225098},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06597089767456055},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.06429785490036011},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2011.2159420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2011.2159420","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.690.8777","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.690.8777","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://verona.fi-p.unam.mx/%7Elfridman/publicaciones/papers/TN-10-465_04_MS.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W145212331","https://openalex.org/W1516289514","https://openalex.org/W1516447630","https://openalex.org/W1534416612","https://openalex.org/W1537842733","https://openalex.org/W1571301513","https://openalex.org/W1887006513","https://openalex.org/W1960613717","https://openalex.org/W1964636356","https://openalex.org/W1993300073","https://openalex.org/W2003082577","https://openalex.org/W2015126358","https://openalex.org/W2039726930","https://openalex.org/W2046983111","https://openalex.org/W2051526898","https://openalex.org/W2104717209","https://openalex.org/W2130374387","https://openalex.org/W2135688580","https://openalex.org/W2142843898","https://openalex.org/W2158351672","https://openalex.org/W2169396420","https://openalex.org/W2617410115","https://openalex.org/W2920862120","https://openalex.org/W3160954918","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W4292408540"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W2021587409","https://openalex.org/W2726654316","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W4384821980","https://openalex.org/W2165744821","https://openalex.org/W4387831374","https://openalex.org/W1496250982","https://openalex.org/W1634568908"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,13,37,45,53,61,64,67,74,81,90],"problem":[3],"of":[4,30,47,55,63,66,89,106],"designing":[5],"an":[6],"integral":[7],"sliding":[8,50,56],"mode":[9],"controller":[10],"to":[11,94],"reduce":[12],"disturbance":[14,68],"terms":[15],"that":[16,44],"act":[17],"on":[18],"nonlinear":[19],"systems":[20],"with":[21],"state-dependent":[22],"drift":[23],"and":[24,33,52,80],"input":[25],"matrix.":[26],"The":[27],"general":[28],"case":[29],"both,":[31],"matched":[32,75],"unmatched":[34,82],"disturbances":[35,76],"affecting":[36],"system":[38],"is":[39,42],"addressed.":[40],"It":[41],"proved":[43],"definition":[46],"a":[48,95],"suitable":[49],"manifold":[51],"generation":[54],"modes":[57],"upon":[58],"it":[59],"guarantees":[60],"minimization":[62],"effect":[65],"terms,":[69],"which":[70],"takes":[71],"place":[72],"when":[73],"are":[77,84],"completely":[78],"rejected":[79],"ones":[83],"not":[85],"amplified.":[86],"A":[87],"simulation":[88],"proposed":[91],"technique,":[92],"applied":[93],"dynamically":[96],"feedback":[97],"linearized":[98],"unicycle,":[99],"illustrates":[100],"its":[101],"effectiveness,":[102],"even":[103],"in":[104],"presence":[105],"nonholonomic":[107],"constraints.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":29},{"year":2018,"cited_by_count":22},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":28},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":19},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
