{"id":"https://openalex.org/W4321021046","doi":"https://doi.org/10.1109/tase.2023.3243119","title":"Adaptive Set-Membership Filter Based Discrete Sliding Mode Control for Pneumatic Artificial Muscle Systems With Hardware Experiments","display_name":"Adaptive Set-Membership Filter Based Discrete Sliding Mode Control for Pneumatic Artificial Muscle Systems With Hardware Experiments","publication_year":2023,"publication_date":"2023-02-16","ids":{"openalex":"https://openalex.org/W4321021046","doi":"https://doi.org/10.1109/tase.2023.3243119"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3243119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3243119","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5030402098","display_name":"Yanding Qin","orcid":"https://orcid.org/0000-0001-5162-1665"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanding Qin","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China","Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029201918","display_name":"Haoqi Zhang","orcid":"https://orcid.org/0000-0003-1612-211X"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoqi Zhang","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China","Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085291080","display_name":"Xiangyu Wang","orcid":"https://orcid.org/0000-0001-7939-6746"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyu Wang","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China","Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084704870","display_name":"Ning Sun","orcid":"https://orcid.org/0000-0002-5253-2944"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Sun","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China","Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University, Tianjin, China","Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030402098"],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":2.7426,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.9033354,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"21","issue":"2","first_page":"1682","last_page":"1694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9894000291824341,"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":0.8805239200592041},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5628598928451538},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5536599159240723},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.552098274230957},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.5374119877815247},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5002865791320801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.49849820137023926},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4645146429538727},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4530588388442993},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4388415515422821},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.4370945692062378},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4165031909942627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3920849561691284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1434154212474823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09117785096168518}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8805239200592041},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5628598928451538},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5536599159240723},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.552098274230957},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.5374119877815247},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5002865791320801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49849820137023926},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4645146429538727},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4530588388442993},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4388415515422821},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.4370945692062378},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4165031909942627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3920849561691284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1434154212474823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09117785096168518},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3243119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3243119","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G202656958","display_name":null,"funder_award_id":"21JCZDJC00090","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G3666805181","display_name":null,"funder_award_id":"U1913208","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5080409064","display_name":null,"funder_award_id":"52005270","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7115752990","display_name":null,"funder_award_id":"61873133","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1596635901","https://openalex.org/W1981392343","https://openalex.org/W1992094732","https://openalex.org/W2019389396","https://openalex.org/W2054049864","https://openalex.org/W2055315624","https://openalex.org/W2066268967","https://openalex.org/W2103920070","https://openalex.org/W2150027143","https://openalex.org/W2162352279","https://openalex.org/W2162728015","https://openalex.org/W2409873758","https://openalex.org/W2441979337","https://openalex.org/W2783470713","https://openalex.org/W2790841337","https://openalex.org/W2799550132","https://openalex.org/W2802585477","https://openalex.org/W2897791698","https://openalex.org/W2906481773","https://openalex.org/W2953297110","https://openalex.org/W2976468093","https://openalex.org/W2981875486","https://openalex.org/W2999727290","https://openalex.org/W2999925343","https://openalex.org/W3017127311","https://openalex.org/W3030068428","https://openalex.org/W3034086283","https://openalex.org/W3037414720","https://openalex.org/W3049465092","https://openalex.org/W3087642603","https://openalex.org/W3090608563","https://openalex.org/W3109407421","https://openalex.org/W3181208916","https://openalex.org/W3198994108","https://openalex.org/W3203161429","https://openalex.org/W3210880416","https://openalex.org/W4206103833","https://openalex.org/W4206210456","https://openalex.org/W4206949274","https://openalex.org/W4210374955"],"related_works":["https://openalex.org/W2162848954","https://openalex.org/W91770536","https://openalex.org/W2061848878","https://openalex.org/W2020912483","https://openalex.org/W2742397931","https://openalex.org/W2066967876","https://openalex.org/W1968309858","https://openalex.org/W2360194697","https://openalex.org/W1573724835","https://openalex.org/W1978574942"],"abstract_inverted_index":{"Pneumatic":[0],"artificial":[1],"muscle":[2],"(PAM),":[3],"featuring":[4],"good":[5,200],"flexibility":[6],"and":[7,15,23,31,37,63,102,119,154,185,203,218,249,306,324,336],"safety,":[8,202],"has":[9],"been":[10],"widely":[11,208],"used":[12,81,96,209],"in":[13,47,126,210,268,279,320,340],"rehabilitation":[14,211],"bionic":[16],"robots.":[17,342],"However,":[18],"the":[19,26,34,60,69,74,88,99,106,122,131,142,146,152,157,177,183,243,247,254,258,262,280,284,290,307,316,334],"complex":[20],"hysteretic":[21,71],"nonlinearities":[22],"uncertainties":[24],"of":[25,66,73,105,130,145,156,165,187,246,257,283,289,309,338],"PAM":[27,147,194,206,248],"cause":[28],"great":[29],"difficulties":[30],"challenges":[32],"to":[33,97,121,175,220,240,252],"accurate":[35],"modeling":[36,335],"controller":[38,112,159,292],"design,":[39],"especially":[40],"when":[41],"confronted":[42],"with":[43,56,114,261],"unknown":[44],"external":[45,103,221,310],"disturbances":[46,104,222,311],"applications.":[48],"This":[49,227],"paper":[50,228],"proposes":[51,229],"a":[52,76,83,163,196],"robust":[53],"control":[54,337],"strategy":[55],"disturbance":[57,115,256],"compensation":[58,62,116],"for":[59,172,242],"hysteresis":[61,85,124,216,238,245,301],"trajectory":[64],"tracking":[65,143],"PAMs.":[67,173],"Considering":[68],"high":[70],"nonlinearity":[72,217],"PAM,":[75],"modified":[77],"Prandtl-Ishlinskii":[78],"model":[79,239],"is":[80,95,117,134,149,195,207,266,273,276,293],"as":[82],"feedforward":[84,123],"compensator.":[86],"For":[87],"linearized":[89],"system,":[90],"adaptive":[91],"set-membership":[92],"filtering":[93],"(ASMF)":[94],"estimate":[98,253],"nonlinear":[100],"terms":[101],"overall":[107,285],"system.":[108,259,286],"A":[109],"sliding":[110],"mode":[111],"(SMC)":[113],"designed":[118],"cascaded":[120],"compensator":[125],"series.":[127],"The":[128,137,287],"stability":[129,281],"closed-loop":[132],"system":[133,148],"theoretically":[135],"proved.":[136],"proposed":[138,158,291,317],"method":[139],"guarantees":[140],"that":[141,269,299],"error":[144,272],"bounded.":[150],"Finally,":[151],"effectiveness":[153,288],"robustness":[155],"are":[160],"verified":[161],"via":[162],"series":[164],"experiments":[166],"on":[167,180],"an":[168,230,236],"in-house":[169],"built":[170],"testbench":[171],"Note":[174],"Practitioners\u2014With":[176],"increasing":[178],"demand":[179],"human-robot":[181],"interaction,":[182],"safety":[184],"compliance":[186],"robots":[188],"have":[189],"become":[190],"one":[191],"key":[192],"requirement.":[193],"compliant":[197],"actuator,":[198],"exhibiting":[199],"flexibility,":[201],"clean":[204],"energy.":[205],"robots,":[212],"whereas":[213],"its":[214,224,270],"strong":[215,244],"sensitivity":[219],"affect":[223],"motion":[225,322],"accuracy.":[226],"ASMF-based":[231],"discrete":[232],"SMC,":[233],"which":[234,275],"uses":[235,250],"inverse":[237],"compensate":[241],"ASMF":[251,265],"lumped":[255],"Compared":[260],"other":[263],"filters,":[264],"unique":[267],"estimation":[271],"bounded,":[274],"very":[277],"useful":[278],"proof":[282],"experimentally":[294],"verified.":[295],"Experimental":[296],"results":[297],"show":[298],"PAM\u2019s":[300],"can":[302,312],"be":[303,313,331],"efficiently":[304],"compensated,":[305],"influence":[308],"attenuated":[314],"by":[315],"controller,":[318],"resulting":[319],"improved":[321],"accuracy":[323],"robustness.":[325],"In":[326],"future":[327],"work,":[328],"efforts":[329],"will":[330],"directed":[332],"towards":[333],"PAMs":[339],"multi-DOF":[341]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}