{"id":"https://openalex.org/W7127562050","doi":"https://doi.org/10.1109/tac.2026.3661318","title":"Combining Sliding Mode and Passivity-Based Control for Manifold Design and Robustness Enhancement","display_name":"Combining Sliding Mode and Passivity-Based Control for Manifold Design and Robustness Enhancement","publication_year":2026,"publication_date":"2026-02-04","ids":{"openalex":"https://openalex.org/W7127562050","doi":"https://doi.org/10.1109/tac.2026.3661318"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2026.3661318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2026.3661318","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/A5039988381","display_name":"Michele Cucuzzella","orcid":"https://orcid.org/0000-0003-1677-3289"},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Michele Cucuzzella","raw_affiliation_strings":["Jan C. Willems Center for Systems and Control, Engineering and Technology Institute Groningen, University of Groningen, Groningen, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1677-3289","affiliations":[{"raw_affiliation_string":"Jan C. Willems Center for Systems and Control, Engineering and Technology Institute Groningen, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102446545","display_name":"Pablo Borja","orcid":null},"institutions":[{"id":"https://openalex.org/I897542642","display_name":"University of Plymouth","ror":"https://ror.org/008n7pv89","country_code":"GB","type":"education","lineage":["https://openalex.org/I897542642"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pablo Borja","raw_affiliation_strings":["School of Engineering, Computing and Mathematics, University of Plymouth, Plymouth, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7744-0846","affiliations":[{"raw_affiliation_string":"School of Engineering, Computing and Mathematics, University of Plymouth, Plymouth, U.K","institution_ids":["https://openalex.org/I897542642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092120540","display_name":"Edoardo Vacchini","orcid":"https://orcid.org/0009-0000-9178-5947"},"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":"Edoardo Vacchini","raw_affiliation_strings":["Department of Electrical, Computer and Biomedical Engineering, University of Pavia, Pavia, Italy"],"raw_orcid":"https://orcid.org/0009-0000-9178-5947","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer and Biomedical Engineering, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125014014","display_name":"Antonella Ferrara","orcid":null},"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 Electrical, Computer and Biomedical Engineering, University of Pavia, Pavia, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1977-8248","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer and Biomedical Engineering, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078364973","display_name":"Jacquelien M.A. Scherpen","orcid":"https://orcid.org/0000-0002-3409-5760"},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jacquelien Scherpen","raw_affiliation_strings":["Jan C. Willems Center for Systems and Control, Engineering and Technology Institute Groningen, University of Groningen, Groningen, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-3409-5760","affiliations":[{"raw_affiliation_string":"Jan C. Willems Center for Systems and Control, Engineering and Technology Institute Groningen, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125038568","display_name":"Arjan van der Schaft","orcid":null},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Arjan van der Schaft","raw_affiliation_strings":["Jan C. Willems Center for Systems and Control, Bernoulli Institute for Mathematics, Computer Science, and Artificial Intelligence, University of Groningen, Groningen, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-2383-9234","affiliations":[{"raw_affiliation_string":"Jan C. Willems Center for Systems and Control, Bernoulli Institute for Mathematics, Computer Science, and Artificial Intelligence, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11332539,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"71","issue":"7","first_page":"4481","last_page":"4495"},"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":0.9815000295639038,"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":0.9815000295639038,"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":0.0035000001080334187,"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":0.0020000000949949026,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8026000261306763},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.8011000156402588},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7533000111579895},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6643000245094299},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6565999984741211},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.6306999921798706},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.519599974155426},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5016000270843506}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8026000261306763},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.8011000156402588},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7533000111579895},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6643000245094299},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6565999984741211},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.6306999921798706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5336999893188477},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.519599974155426},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5016000270843506},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46639999747276306},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.46380001306533813},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.4163999855518341},{"id":"https://openalex.org/C138852830","wikidata":"https://www.wikidata.org/wiki/Q2292993","display_name":"Design methods","level":2,"score":0.40610000491142273},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C121047784","wikidata":"https://www.wikidata.org/wiki/Q7623607","display_name":"Strict-feedback form","level":5,"score":0.3903999924659729},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.37540000677108765},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3677999973297119},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3174000084400177},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2687000036239624}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2026.3661318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2026.3661318","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:pure.rug.nl:publications/ecfa2841-8ece-4eb9-8d06-27988e335244","is_oa":false,"landing_page_url":"https://research.rug.nl/en/publications/ecfa2841-8ece-4eb9-8d06-27988e335244","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cucuzzella, M, Borja, P, Vacchini, E, Ferrara, A, Scherpen, J & van der Schaft, A 2026, 'Combining Sliding Mode and Passivity-Based Control for Manifold Design and Robustness Enhancement', IEEE Transactions on Automatic Control, vol. 71, no. 7, pp. 4481-4495. https://doi.org/10.1109/TAC.2026.3661318","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,91],"design":[1,42,65,95,115],"of":[2,8,29,49,61,84,104,122],"suitable":[3],"sliding":[4,13,44,67,105],"manifolds":[5,45],"remains":[6],"one":[7],"the":[9,58,62,70,73,82,85,88,101,114,120,123],"main":[10],"bottlenecks":[11],"in":[12],"mode":[14,106],"control.":[15],"This":[16],"paper":[17],"proposes":[18],"a":[19,26,47,66],"strategy":[20,125],"to":[21,41,64,80,100],"address":[22],"this":[23,33],"problem":[24],"for":[25,46],"broad":[27],"class":[28,48],"nonlinear":[30,50],"systems.":[31,53],"To":[32],"end,":[34],"we":[35,56],"develop":[36],"an":[37],"original,":[38],"systematic":[39],"methodology":[40],"stabilizing":[43],"port-Hamiltonian":[51],"(pH)":[52],"In":[54],"particular,":[55],"exploit":[57],"pH":[59],"structure":[60],"system":[63,71,86],"manifold,":[68],"where":[69],"preserves":[72],"desired":[74],"passivity":[75],"properties":[76],"that":[77],"are":[78],"useful":[79],"stabilize":[81],"dynamics":[83],"on":[87],"designed":[89],"manifold.":[90],"proposed":[92,124],"modular":[93],"control":[94,107,110],"offers":[96],"significant":[97],"advantages":[98],"compared":[99],"individual":[102],"application":[103],"and":[108,116],"passivity-based":[109],"techniques,":[111],"effectively":[112],"simplifying":[113],"enhancing":[117],"robustness.":[118],"Finally,":[119],"applicability":[121],"is":[126],"assessed":[127],"via":[128],"simulations.":[129]},"counts_by_year":[],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2026-02-06T00:00:00"}
