{"id":"https://openalex.org/W4402891771","doi":"https://doi.org/10.1109/tase.2024.3461156","title":"A New Adaptive Robust Sliding Mode Control for High-Precision PKMs: Design, Stability Analysis, and Experiments","display_name":"A New Adaptive Robust Sliding Mode Control for High-Precision PKMs: Design, Stability Analysis, and Experiments","publication_year":2024,"publication_date":"2024-09-26","ids":{"openalex":"https://openalex.org/W4402891771","doi":"https://doi.org/10.1109/tase.2024.3461156"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3461156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3461156","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":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04713844/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070567234","display_name":"Youcef Fitas","orcid":"https://orcid.org/0000-0003-0903-6985"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Youcef Fitas","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026408399","display_name":"Ahmed Chemori","orcid":"https://orcid.org/0000-0001-9739-9473"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chemori","raw_affiliation_strings":["LIRMM, University of Montpellier, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, University of Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014778098","display_name":"Johann Lamaury","orcid":"https://orcid.org/0009-0006-3518-3523"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Johann Lamaury","raw_affiliation_strings":["SYMETRIE, Bouillargues, France"],"affiliations":[{"raw_affiliation_string":"SYMETRIE, Bouillargues, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032468851","display_name":"Thierry Roux","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thierry Roux","raw_affiliation_strings":["SYMETRIE, Bouillargues, France"],"affiliations":[{"raw_affiliation_string":"SYMETRIE, Bouillargues, France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070567234"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":1.712,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84801486,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"7105","last_page":"7121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9987999796867371,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9987999796867371,"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":0.9950000047683716,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9940000176429749,"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":0.5996357798576355},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5731189846992493},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.469561368227005},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4541581869125366},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4334959089756012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4292803108692169},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.42475590109825134},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.41114088892936707},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3865126371383667},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36152327060699463},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3476145267486572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32356733083724976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18713602423667908},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15906807780265808},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14416968822479248},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08412376046180725}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5996357798576355},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5731189846992493},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.469561368227005},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4541581869125366},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4334959089756012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4292803108692169},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.42475590109825134},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41114088892936707},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3865126371383667},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36152327060699463},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3476145267486572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32356733083724976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18713602423667908},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15906807780265808},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14416968822479248},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08412376046180725},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/tase.2024.3461156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3461156","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:HAL:lirmm-04713844v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04713844","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04713844/document","source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering, 2024, pp.1-17. &#x27E8;10.1109/TASE.2024.3461156&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-04713844v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04713844","pdf_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04713844/document","source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering, 2024, pp.1-17. &#x27E8;10.1109/TASE.2024.3461156&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7900000214576721,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402891771.pdf","grobid_xml":"https://content.openalex.org/works/W4402891771.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W14261909","https://openalex.org/W1514481512","https://openalex.org/W1966778048","https://openalex.org/W1969140852","https://openalex.org/W1997014929","https://openalex.org/W2053411443","https://openalex.org/W2061516619","https://openalex.org/W2071480383","https://openalex.org/W2077129956","https://openalex.org/W2078336205","https://openalex.org/W2078618618","https://openalex.org/W2081468032","https://openalex.org/W2115624523","https://openalex.org/W2164136324","https://openalex.org/W2165120080","https://openalex.org/W2166060787","https://openalex.org/W2420367108","https://openalex.org/W2482429845","https://openalex.org/W2733774018","https://openalex.org/W2753317120","https://openalex.org/W2802623716","https://openalex.org/W2891886346","https://openalex.org/W2909830432","https://openalex.org/W2928598186","https://openalex.org/W2948314601","https://openalex.org/W2994695572","https://openalex.org/W3092627351","https://openalex.org/W3096325641","https://openalex.org/W4225385500","https://openalex.org/W4226248133","https://openalex.org/W4231234912","https://openalex.org/W4285254885","https://openalex.org/W4286255924","https://openalex.org/W4300885720","https://openalex.org/W4308348118","https://openalex.org/W4312770117","https://openalex.org/W4313524883","https://openalex.org/W4316022146","https://openalex.org/W4362653586","https://openalex.org/W4364856146","https://openalex.org/W4376456889","https://openalex.org/W4387197149","https://openalex.org/W4389692450"],"related_works":["https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W2319803529","https://openalex.org/W1562326332","https://openalex.org/W1550017747","https://openalex.org/W2152839317","https://openalex.org/W2913641967"],"abstract_inverted_index":{"This":[0,23,59],"paper":[1,187],"proposes":[2],"a":[3,44,126,272,302,366,376],"novel":[4],"adaptive":[5,89,221,279,298],"feedback":[6,79,280,299],"sliding":[7,20,83,275,304],"mode":[8,21,84,276,305],"control":[9,57,74,106,210,277,349],"for":[10,27,63,96,200,228,301],"parallel":[11,130,331],"kinematic":[12],"manipulators":[13],"(PKMs),":[14],"built":[15],"on":[16,48,109,328,379],"the":[17,41,49,53,56,77,82,104,117,191,229,236,240,261,286,344,347,359,370,380],"conventional":[18],"model-based":[19,303,337],"control.":[22],"structure":[24],"was":[25,188],"chosen":[26],"its":[28,123,146,318,352],"robustness":[29,194,241,287],"towards":[30,195,288],"uncertainties":[31,196,233,289],"and":[32,169,197,202,239,258,290,333,351,354],"external":[33,291],"disturbances.":[34,292],"The":[35,114,137,206,293,320,339],"contribution":[36],"of":[37,43,52,81,103,116,156,193,263,266,317,346,369],"this":[38,270],"research":[39],"is":[40,112,120,140,242,282,295,323],"inclusion":[42],"feedforward":[45,60],"term":[46,61],"based":[47,108,378],"dynamic":[50,267,371],"model":[51],"PKM":[54],"in":[55,73,132,166,179,204,260,308],"design.":[58],"compensates":[62],"high":[64],"nonlinear":[65,222],"dynamics,":[66],"as":[67,69,88,373],"well":[68,374],"avoids":[70],"measurement":[71],"noise":[72],"inputs.":[75],"Additionally,":[76],"fixed":[78],"gains":[80,281,300],"controller":[85,119,361],"are":[86],"redesigned":[87],"gains,":[90],"which":[91],"provide":[92],"better":[93],"correction":[94],"actions":[95],"larger":[97],"tracking":[98,154,237],"errors.":[99],"A":[100],"stability":[101],"analysis":[102],"proposed":[105,118,138,283,321,348,360],"solution,":[107],"Lyapunov\u2019s":[110],"method,":[111],"provided.":[113],"effectiveness":[115,353],"demonstrated":[121],"through":[122,325],"application":[124],"to":[125,185,212,284,296],"Gough-Stewart":[127],"platform":[128],"(MISTRAL":[129],"robot)":[131],"various":[133,143],"real-time":[134,264,326,367],"experimental":[135],"scenarios.":[136],"approach":[139],"compared":[141,334],"with":[142,214,278,335,365],"controllers":[144,247],"demonstrating":[145],"superiority.":[147],"It":[148],"ensures":[149],"nominal":[150],"root":[151],"mean":[152],"square":[153],"errors":[155],"(i)":[157],"about":[158,171],"<inline-formula":[159,172],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[160,173],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[161,174],"<tex-math":[162,175],"notation=\"LaTeX\">$22\\,\\mu":[163],"m$":[164,177],"</tex-math></inline-formula>":[165,178],"joint":[167],"space,":[168],"(ii)":[170],"notation=\"LaTeX\">$27\\,\\mu":[176],"traveling":[180],"plate":[181],"Cartesian":[182],"position.":[183],"Note":[184],"Practitioners\u2014This":[186],"motivated":[189],"by":[190,217],"problem":[192],"operating":[198],"conditions":[199],"PKMs":[201],"especially":[203,259],"industry.":[205],"literature":[207],"contains":[208],"some":[209,336],"solutions":[211],"deal":[213],"these":[215],"issues":[216],"designing":[218],"robust":[219],"or":[220],"controllers.":[223,338],"Indeed,":[224],"despite":[225],"their":[226,253],"success,":[227],"first":[230],"type,":[231],"large":[232],"may":[234],"degrade":[235],"performance":[238],"not":[243],"always":[244],"guaranteed.":[245],"Adaptive":[246],"can":[248,255,362],"be":[249,256,363],"more":[250],"robust,":[251],"but":[252],"tuning":[254,316],"difficult":[257],"case":[262],"estimation":[265,368],"parameters.":[268,319],"In":[269,356],"paper,":[271],"new":[273],"robust-based":[274],"ensure":[285],"idea":[294],"design":[297,350],"control,":[306],"resulting":[307],"an":[309,314,329],"improved":[310],"robustness,":[311],"while":[312],"ensuring":[313],"easy":[315],"solution":[322],"validated":[324],"experiments":[327],"industrial":[330],"robot,":[332],"obtained":[340],"results":[341],"show":[342],"clearly":[343],"benefits":[345],"robustness.":[355],"future":[357],"work,":[358],"endowed":[364],"parameters,":[372],"as,":[375],"redesign":[377],"super-twisting":[381],"algorithm.":[382]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
