{"id":"https://openalex.org/W4392309333","doi":"https://doi.org/10.1109/tac.2024.3371898","title":"Passivity-Based Sliding Mode Control for Mechanical Port-Hamiltonian Systems","display_name":"Passivity-Based Sliding Mode Control for Mechanical Port-Hamiltonian Systems","publication_year":2024,"publication_date":"2024-02-29","ids":{"openalex":"https://openalex.org/W4392309333","doi":"https://doi.org/10.1109/tac.2024.3371898"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3371898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3371898","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/A5059367845","display_name":"Naoki Sakata","orcid":"https://orcid.org/0000-0002-2933-0850"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Naoki Sakata","raw_affiliation_strings":["Graduate School of Engineering, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037036162","display_name":"Kenji Fujimoto","orcid":"https://orcid.org/0000-0001-6345-4884"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Fujimoto","raw_affiliation_strings":["Graduate School of Engineering, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004714321","display_name":"Ichiro Maruta","orcid":"https://orcid.org/0000-0002-2246-3570"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ichiro Maruta","raw_affiliation_strings":["Graduate School of Engineering, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059367845"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":4.8924,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.95517939,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"69","issue":"8","first_page":"5605","last_page":"5612"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":1.0,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":1.0,"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/T12763","display_name":"ATP Synthase and ATPases Research","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9635000228881836,"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/passivity","display_name":"Passivity","score":0.888742983341217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7443174123764038},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6459282040596008},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4721039831638336},{"id":"https://openalex.org/keywords/hamiltonian-system","display_name":"Hamiltonian system","score":0.4631924033164978},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45382723212242126},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.44266098737716675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42270615696907043},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41515886783599854},{"id":"https://openalex.org/keywords/port","display_name":"Port (circuit theory)","score":0.411827027797699},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3271699547767639},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31793999671936035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.288177490234375},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24087798595428467},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16630446910858154},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14958715438842773},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1322447657585144},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.12670400738716125},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07298889756202698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0678449273109436}],"concepts":[{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.888742983341217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7443174123764038},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6459282040596008},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4721039831638336},{"id":"https://openalex.org/C121770821","wikidata":"https://www.wikidata.org/wiki/Q2072471","display_name":"Hamiltonian system","level":2,"score":0.4631924033164978},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45382723212242126},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.44266098737716675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42270615696907043},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41515886783599854},{"id":"https://openalex.org/C32802771","wikidata":"https://www.wikidata.org/wiki/Q2443617","display_name":"Port (circuit theory)","level":2,"score":0.411827027797699},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3271699547767639},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31793999671936035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.288177490234375},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24087798595428467},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16630446910858154},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14958715438842773},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1322447657585144},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.12670400738716125},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07298889756202698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0678449273109436},{"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/tac.2024.3371898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3371898","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W2001482186","https://openalex.org/W2048253740","https://openalex.org/W2083754940","https://openalex.org/W2107769032","https://openalex.org/W2124388885","https://openalex.org/W2124662518","https://openalex.org/W2125248216","https://openalex.org/W2136947598","https://openalex.org/W2165819505","https://openalex.org/W2947944317","https://openalex.org/W2953986104","https://openalex.org/W3045105322","https://openalex.org/W3171213280","https://openalex.org/W3214893053","https://openalex.org/W4214690803","https://openalex.org/W4327639739"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W1977819874","https://openalex.org/W2960878236","https://openalex.org/W1987853799","https://openalex.org/W2010551470","https://openalex.org/W2597541581","https://openalex.org/W2963314675"],"abstract_inverted_index":{"In":[0,85],"this":[1,87],"work,":[2],"we":[3,104],"propose":[4],"a":[5,51,102],"new":[6],"passivity-based":[7,29,59],"sliding":[8,18,25,33,62],"mode":[9,19,26,34,63],"control":[10,20,27,35,60,64,114],"method":[11,49,110],"for":[12],"mechanical":[13],"port":[14],"Hamiltonian":[15],"systems.":[16],"Passivity-based":[17],"(PBSMC)":[21],"is":[22,70,94,128],"unification":[23],"of":[24,53,119,135],"and":[28,36,61,81,125],"control.":[30],"It":[31],"achieves":[32],"Lyapunov":[37,45],"stability":[38],"simultaneously":[39],"by":[40],"employing":[41],"an":[42],"energy":[43],"based":[44],"function.":[46],"The":[47,68],"proposed":[48,108,121,137],"gives":[50],"family":[52],"stabilizing":[54],"controllers":[55],"which":[56,93],"smoothly":[57],"interpolates":[58],"with":[65],"design":[66],"parameters.":[67],"freedom":[69],"useful":[71],"to":[72,111],"adjust":[73],"the":[74,90,97,107,117,120,133,136],"trade-off":[75],"between":[76],"robustness":[77,118],"against":[78,123],"external":[79],"disturbances":[80,127],"undesired":[82],"chattering":[83],"vibration.":[84],"addition,":[86],"paper":[88],"relaxes":[89],"restrictive":[91],"condition":[92],"required":[95],"in":[96],"authors'":[98],"former":[99],"result.":[100],"As":[101],"result,":[103],"can":[105],"apply":[106],"PBSMC":[109],"trajectory":[112],"tracking":[113],"problems.":[115],"Furthermore,":[116],"controller":[122],"matched":[124],"unmatched":[126],"investigated.":[129],"Numerical":[130],"examples":[131],"demonstrate":[132],"effectiveness":[134],"method.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
