{"id":"https://openalex.org/W2982526735","doi":"https://doi.org/10.1109/tcst.2019.2945904","title":"Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler\u2013Lagrangian Systems","display_name":"Integral Sliding-Mode Observer-Based Disturbance Estimation for Euler\u2013Lagrangian Systems","publication_year":2019,"publication_date":"2019-10-28","ids":{"openalex":"https://openalex.org/W2982526735","doi":"https://doi.org/10.1109/tcst.2019.2945904","mag":"2982526735"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2019.2945904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2945904","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1525645","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101743605","display_name":"Zengjie Zhang","orcid":"https://orcid.org/0000-0003-1875-1032"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zengjie Zhang","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1875-1032","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marion Leibold","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-2802-5600","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2810-6790","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.3721,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.92760005,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"28","issue":"6","first_page":"2377","last_page":"2389"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9922999739646912,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9912999868392944,"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":0.8305556178092957},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.5067673325538635},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49522748589515686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49078068137168884},{"id":"https://openalex.org/keywords/integral-sliding-mode","display_name":"Integral sliding mode","score":0.4808674454689026},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.44940537214279175},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4304564297199249},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4195508658885956},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.41860824823379517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33871638774871826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15309405326843262},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13962891697883606}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8305556178092957},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.5067673325538635},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49522748589515686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49078068137168884},{"id":"https://openalex.org/C2778132902","wikidata":"https://www.wikidata.org/wiki/Q6042725","display_name":"Integral sliding mode","level":4,"score":0.4808674454689026},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.44940537214279175},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4304564297199249},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4195508658885956},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.41860824823379517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33871638774871826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15309405326843262},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13962891697883606},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2019.2945904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2945904","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1525645","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1525645","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1525645","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1525645","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G6568068420","display_name":null,"funder_award_id":"201506120029","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1497280145","https://openalex.org/W1560270123","https://openalex.org/W1579753478","https://openalex.org/W1960613717","https://openalex.org/W1963607157","https://openalex.org/W1971397926","https://openalex.org/W1981370199","https://openalex.org/W1991918128","https://openalex.org/W1991923168","https://openalex.org/W1999636742","https://openalex.org/W2008325098","https://openalex.org/W2015126358","https://openalex.org/W2048653585","https://openalex.org/W2048699277","https://openalex.org/W2050835671","https://openalex.org/W2054127377","https://openalex.org/W2062934826","https://openalex.org/W2066202893","https://openalex.org/W2070935310","https://openalex.org/W2080426295","https://openalex.org/W2081989379","https://openalex.org/W2082323100","https://openalex.org/W2088552730","https://openalex.org/W2099019320","https://openalex.org/W2101959500","https://openalex.org/W2107122393","https://openalex.org/W2108703536","https://openalex.org/W2113454792","https://openalex.org/W2123406505","https://openalex.org/W2137673756","https://openalex.org/W2140463469","https://openalex.org/W2146337646","https://openalex.org/W2149085596","https://openalex.org/W2159360104","https://openalex.org/W2159746877","https://openalex.org/W2167808181","https://openalex.org/W2171868844","https://openalex.org/W2409108796","https://openalex.org/W2492766244","https://openalex.org/W2509705371","https://openalex.org/W2519797566","https://openalex.org/W2590307769","https://openalex.org/W2614929993","https://openalex.org/W2753876009","https://openalex.org/W2768613263","https://openalex.org/W2790134453","https://openalex.org/W2794389865","https://openalex.org/W4205559380","https://openalex.org/W6744231629"],"related_works":["https://openalex.org/W1979692063","https://openalex.org/W4292702743","https://openalex.org/W2726654316","https://openalex.org/W2899899983","https://openalex.org/W2388459438","https://openalex.org/W2021587409","https://openalex.org/W4384821980","https://openalex.org/W2165744821","https://openalex.org/W1496250982","https://openalex.org/W2392286806"],"abstract_inverted_index":{"In":[0],"this":[1,123,150],"article,":[2],"a":[3,64,101,114,153,158,165],"novel":[4,124],"integral":[5,76],"sliding-mode":[6,45],"observer":[7,151],"is":[8,39,55,61,79,93],"proposed":[9],"to":[10,42,53,81,100,104,137,152,161],"estimate":[11,105],"the":[12,44,50,69,83,88,91,106,139,162],"external":[13,110,143],"disturbance":[14],"and":[15,25,32,109,119,129,133],"velocity":[16,37,108],"of":[17,49,72,90,141,149,164],"Euler-Lagrangian":[18,73],"systems.":[19,74],"This":[20],"method":[21,67,96,125],"provides":[22,126],"high":[23],"bandwidth":[24],"precise":[26],"estimation":[27,51,92,131],"with":[28],"only":[29],"commanded":[30],"input":[31],"position":[33],"measurement.":[34],"A":[35],"system":[36],"measurement":[38,140],"not":[40],"required":[41],"construct":[43],"manifold.":[46],"The":[47,95,146],"convergence":[48],"error":[52],"zero":[54],"theoretically":[56],"in":[57,113],"finite":[58],"time,":[59],"which":[60],"proven":[62],"by":[63],"direct":[65],"Lyapunov":[66],"utilizing":[68],"passivity":[70],"property":[71],"An":[75],"sliding":[77],"manifold":[78],"designed":[80],"reduce":[82],"reaching":[84],"phase,":[85],"such":[86],"that":[87,122],"robustness":[89],"enhanced.":[94],"has":[97],"been":[98],"applied":[99],"robot":[102],"manipulator":[103,159],"joint":[107],"contact":[111],"forces":[112],"physical":[115],"human-robot":[116,170],"task.":[117],"Simulations":[118],"experiments":[120],"reveal":[121],"fast,":[127],"precise,":[128],"robust":[130],"results":[132],"can":[134],"be":[135],"used":[136],"replace":[138],"an":[142],"force":[144],"sensor.":[145],"successful":[147],"application":[148],"force-sensor-less":[154],"admittance":[155],"controller":[156],"for":[157,169],"contributes":[160],"implementation":[163],"sensor-free":[166],"safety":[167],"framework":[168],"collaboration":[171],"(HRC).":[172]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}