{"id":"https://openalex.org/W4385521768","doi":"https://doi.org/10.1109/tase.2023.3297119","title":"Resilient Event-Triggered Terminal Sliding Mode Control Design for a Robot Manipulator","display_name":"Resilient Event-Triggered Terminal Sliding Mode Control Design for a Robot Manipulator","publication_year":2023,"publication_date":"2023-08-03","ids":{"openalex":"https://openalex.org/W4385521768","doi":"https://doi.org/10.1109/tase.2023.3297119"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3297119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3297119","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/A5005582357","display_name":"Mobin Saeedi","orcid":"https://orcid.org/0000-0002-7620-9981"},"institutions":[{"id":"https://openalex.org/I204490172","display_name":"Shiraz University of Technology","ror":"https://ror.org/04bxa3v83","country_code":"IR","type":"education","lineage":["https://openalex.org/I204490172"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mobin Saeedi","raw_affiliation_strings":["Department of Electrical Engineering, Shiraz University of Technology, Shiraz, Iran"],"raw_orcid":"https://orcid.org/0000-0002-7620-9981","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Shiraz University of Technology, Shiraz, Iran","institution_ids":["https://openalex.org/I204490172"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085290220","display_name":"Jafar Zarei","orcid":"https://orcid.org/0000-0002-0135-8173"},"institutions":[{"id":"https://openalex.org/I204490172","display_name":"Shiraz University of Technology","ror":"https://ror.org/04bxa3v83","country_code":"IR","type":"education","lineage":["https://openalex.org/I204490172"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Jafar Zarei","raw_affiliation_strings":["Department of Electrical Engineering, Shiraz University of Technology, Shiraz, Iran"],"raw_orcid":"https://orcid.org/0000-0002-0135-8173","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Shiraz University of Technology, Shiraz, Iran","institution_ids":["https://openalex.org/I204490172"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038291093","display_name":"Mehrdad Saif","orcid":"https://orcid.org/0000-0002-7587-4189"},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehrdad Saif","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Windsor University, Windsor, ON, Canada","Department of Electrical and Computer Engineering, Windsor University, Windsor, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7587-4189","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Windsor University, Windsor, ON, Canada","institution_ids":["https://openalex.org/I74413500"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Windsor University, Windsor, Canada","institution_ids":["https://openalex.org/I74413500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077573438","display_name":"Declan Shanahan","orcid":null},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Declan Shanahan","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster, U.K","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001180960","display_name":"Allahyar Montazeri","orcid":"https://orcid.org/0000-0002-1750-6994"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Allahyar Montazeri","raw_affiliation_strings":["Engineering Department, Lancaster University, Lancaster, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1750-6994","affiliations":[{"raw_affiliation_string":"Engineering Department, Lancaster University, Lancaster, U.K","institution_ids":["https://openalex.org/I67415387"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5691,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.93888138,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"22","issue":null,"first_page":"570","last_page":"581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.9908999800682068,"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/T10917","display_name":"Smart Grid Security and Resilience","score":0.9908999800682068,"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/T10409","display_name":"Fuel Cells and Related Materials","score":0.9757999777793884,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10876","display_name":"Fault Detection and Control Systems","score":0.9684000015258789,"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/robustness","display_name":"Robustness (evolution)","score":0.6251105070114136},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5491837859153748},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.5357508063316345},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5200923681259155},{"id":"https://openalex.org/keywords/denial-of-service-attack","display_name":"Denial-of-service attack","score":0.49543654918670654},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.43614378571510315},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.41679108142852783},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.413043349981308},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4016577899456024},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39456111192703247},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38484668731689453},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.36102262139320374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2805037498474121},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19895803928375244}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6251105070114136},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5491837859153748},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5357508063316345},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5200923681259155},{"id":"https://openalex.org/C38822068","wikidata":"https://www.wikidata.org/wiki/Q131406","display_name":"Denial-of-service attack","level":3,"score":0.49543654918670654},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.43614378571510315},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.41679108142852783},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.413043349981308},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4016577899456024},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39456111192703247},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38484668731689453},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.36102262139320374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2805037498474121},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19895803928375244},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C110875604","wikidata":"https://www.wikidata.org/wiki/Q75","display_name":"The Internet","level":2,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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/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":3,"locations":[{"id":"doi:10.1109/tase.2023.3297119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3297119","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"},{"id":"pmh:oai:eprints.lancs.ac.uk:210830","is_oa":false,"landing_page_url":"https://eprints.lancs.ac.uk/id/eprint/210830/3/Resilient_Event_Triggered_Terminal_Sliding_Mode_Control_Design_for_a_Robot_Manipulator_1_.pdf","pdf_url":"https://eprints.lancs.ac.uk/id/eprint/210830/3/Resilient_Event_Triggered_Terminal_Sliding_Mode_Control_Design_for_a_Robot_Manipulator_1_.pdf","source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"pmh:oai:scholar.uwindsor.ca:electricalengpub-1200","is_oa":false,"landing_page_url":"https://scholar.uwindsor.ca/electricalengpub/201","pdf_url":null,"source":{"id":"https://openalex.org/S4306400430","display_name":"Scholarship at UWindsor (University of Windsor)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74413500","host_organization_name":"University of Windsor","host_organization_lineage":["https://openalex.org/I74413500"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Electrical and Computer Engineering Publications","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":62,"referenced_works":["https://openalex.org/W1981395191","https://openalex.org/W1982812484","https://openalex.org/W1988367613","https://openalex.org/W1996593602","https://openalex.org/W2036033662","https://openalex.org/W2063665072","https://openalex.org/W2068740779","https://openalex.org/W2079215664","https://openalex.org/W2110702780","https://openalex.org/W2313961224","https://openalex.org/W2314002502","https://openalex.org/W2324701635","https://openalex.org/W2415733029","https://openalex.org/W2507243473","https://openalex.org/W2507655980","https://openalex.org/W2551325984","https://openalex.org/W2588172569","https://openalex.org/W2608224837","https://openalex.org/W2728996950","https://openalex.org/W2762155482","https://openalex.org/W2783221532","https://openalex.org/W2787504052","https://openalex.org/W2792580928","https://openalex.org/W2792852625","https://openalex.org/W2810585094","https://openalex.org/W2896522095","https://openalex.org/W2897501037","https://openalex.org/W2971623757","https://openalex.org/W2976184547","https://openalex.org/W2977733636","https://openalex.org/W2987086235","https://openalex.org/W2990170928","https://openalex.org/W2995984855","https://openalex.org/W3007403834","https://openalex.org/W3007645376","https://openalex.org/W3009198376","https://openalex.org/W3010098206","https://openalex.org/W3010392266","https://openalex.org/W3012045681","https://openalex.org/W3023558349","https://openalex.org/W3027703089","https://openalex.org/W3034885865","https://openalex.org/W3037221947","https://openalex.org/W3041296001","https://openalex.org/W3048422314","https://openalex.org/W3093655195","https://openalex.org/W3108342084","https://openalex.org/W3119113223","https://openalex.org/W3130681834","https://openalex.org/W3132107132","https://openalex.org/W3136844113","https://openalex.org/W3160969348","https://openalex.org/W4214855869","https://openalex.org/W4214892656","https://openalex.org/W4225917238","https://openalex.org/W4285217594","https://openalex.org/W4285294661","https://openalex.org/W4286579125","https://openalex.org/W4302468208","https://openalex.org/W4312609219","https://openalex.org/W4376456707","https://openalex.org/W4377140673"],"related_works":["https://openalex.org/W1788310316","https://openalex.org/W2371248926","https://openalex.org/W2335200680","https://openalex.org/W2091433687","https://openalex.org/W1599678529","https://openalex.org/W2110936316","https://openalex.org/W4310929544","https://openalex.org/W2159300333","https://openalex.org/W4220777529","https://openalex.org/W4206718122"],"abstract_inverted_index":{"A":[0],"novel":[1],"non-singular":[2],"terminal":[3],"sliding":[4],"mode":[5],"controller":[6,29,283],"(NTSMC)":[7],"has":[8],"been":[9],"developed":[10],"for":[11,200,242],"the":[12,28,32,44,48,64,71,79,87,89,93,97,114,118,135,144,147,158,164,169,185,197,225,231,254,288,322],"purpose":[13],"of":[14,86,92,99,101,117,125,134,146,152,157,179,187,190,234,249,256,293,332],"tracking":[15],"and":[16,51,84,106,137,155,163,203,244,259,278,298,310],"stabilizing":[17],"tasks":[18],"in":[19,96,150,237,253,291],"uncertain":[20,127],"electro-hydraulic":[21],"robot":[22,33,119,235],"manipulators.":[23,192],"It":[24],"is":[25,38,59,67,74,141,182,240,275,301,313,318],"supposed":[26],"that":[27,37,70,286,321],"communicates":[30],"with":[31,130,216,267],"through":[34],"a":[35,131,262,270,282,304,329],"network":[36,49,198,217,299],"vulnerable":[39,208],"to":[40,112,168,176,183,209,223,230,246,265,328],"cyber-attacks.":[41,211],"To":[42],"reduce":[43],"communication":[45,159],"burden":[46],"on":[47,78,173,196],"layer":[50,199],"achieve":[52,224],"resiliency":[53],"against":[54],"cyber-attacks,":[55,297],"an":[56,120,126],"event-based":[57],"strategy":[58],"employed.":[60,142],"For":[61],"this":[62,180],"purpose,":[63],"event-triggering":[65],"rule":[66],"derived":[68],"so":[69],"Zeno-free":[72],"behavior":[73,91,233,317],"guaranteed.":[75],"Then,":[76,281],"based":[77,172],"cyber-attack":[80,308],"characteristics,":[81],"i.e.,":[82],"frequency":[83],"duration":[85],"attacks,":[88,103],"resilient":[90,316],"proposed":[94,148,323],"scheme":[95],"presence":[98,255],"denial":[100],"service":[102],"unmodelled":[104],"dynamics,":[105],"external":[107],"disturbance":[108],"are":[109,161,166,206],"analyzed.":[110],"Moreover,":[111],"capture":[113],"nonlinear":[115,334],"nature":[116],"experimentally":[121,279],"validated":[122],"analytical":[123],"model":[124,133,274,294],"7-DoF":[128,271],"manipulator":[129,273],"hydraulic":[132],"joints":[136],"actuators,":[138],"namely,":[139],"Brokk-Hydrolek,":[140],"Finally,":[143],"merits":[145],"methodology":[149],"terms":[151],"resiliency,":[153],"robustness,":[154],"preservation":[156],"resources":[160],"validated,":[162],"results":[165],"compared":[167],"state-of-the-art":[170],"approaches":[171],"the$\\rho$index":[174],"criterionNote":[175],"Practitioners\u2014The":[177],"aim":[178],"study":[181],"address":[184],"problem":[186],"network-based":[188,333],"control":[189,204],"robotic":[191,272],"These":[193],"systems,":[194],"relying":[195],"data":[201],"collection":[202],"commands,":[205],"highly":[207],"catastrophic":[210],"Furthermore,":[212],"they":[213],"should":[214],"comply":[215],"restrictions,":[218],"such":[219],"as":[220],"limited":[221],"bandwidth,":[222],"desired":[226,251,289],"performance.":[227],"Therefore,":[228],"due":[229],"collaborative":[232],"manipulators":[236],"industries,":[238],"it":[239],"vital":[241],"engineers":[243],"practitioners":[245],"be":[247,326],"assured":[248],"achieving":[250],"performance":[252,290],"these":[257,268],"threats":[258],"limitations.":[260],"As":[261],"first":[263],"step":[264],"deal":[266],"issues,":[269],"mathematically":[276],"formulated":[277],"validated.":[280],"design":[284],"procedure":[285],"guarantees":[287],"spite":[292],"uncertainties,":[295],"denial-of-service":[296],"restrictions":[300],"derived.":[302],"Additionally,":[303],"clear":[305],"relation":[306],"between":[307],"characteristics":[309],"designed":[311],"parameters":[312],"defined":[314],"while":[315],"maintained.":[319],"Note":[320],"approach":[324],"can":[325],"applied":[327],"wide":[330],"range":[331],"dynamic":[335],"systems.":[336]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":6}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}