{"id":"https://openalex.org/W2995799713","doi":"https://doi.org/10.1109/tencon.2019.8929445","title":"Novel Discrete Reaching Law for Sliding Mode Control of Robotic Manipulators to Reduce Quasi Sliding Mode Band with Improved Reaching","display_name":"Novel Discrete Reaching Law for Sliding Mode Control of Robotic Manipulators to Reduce Quasi Sliding Mode Band with Improved Reaching","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2995799713","doi":"https://doi.org/10.1109/tencon.2019.8929445","mag":"2995799713"},"language":"en","primary_location":{"id":"doi:10.1109/tencon.2019.8929445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon.2019.8929445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2019 - 2019 IEEE Region 10 Conference (TENCON)","raw_type":"proceedings-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/A5055351829","display_name":"P. N. Pournami","orcid":null},"institutions":[{"id":"https://openalex.org/I114845381","display_name":"National Institute of Technology Calicut","ror":"https://ror.org/03yyd7552","country_code":"IN","type":"education","lineage":["https://openalex.org/I114845381"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"P Pournami","raw_affiliation_strings":["Department of Electrical Engineering, National Institute of Technology, Calicut, Calicut, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Institute of Technology, Calicut, Calicut, India","institution_ids":["https://openalex.org/I114845381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088147429","display_name":"Susy Thomas","orcid":"https://orcid.org/0000-0001-5558-4427"},"institutions":[{"id":"https://openalex.org/I114845381","display_name":"National Institute of Technology Calicut","ror":"https://ror.org/03yyd7552","country_code":"IN","type":"education","lineage":["https://openalex.org/I114845381"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Susy Thomas","raw_affiliation_strings":["Department of Electrical Engineering, National Institute of Technology, Calicut, Calicut, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Institute of Technology, Calicut, Calicut, India","institution_ids":["https://openalex.org/I114845381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055351829"],"corresponding_institution_ids":["https://openalex.org/I114845381"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.17699995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2669","last_page":"2674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9980000257492065,"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":0.9965999722480774,"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/sliding-mode-control","display_name":"Sliding mode control","score":0.8370897769927979},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.752564549446106},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5966638326644897},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.57281893491745},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4773333668708801},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.47018539905548096},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45745599269866943},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.44603681564331055},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.4191129207611084},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3576183617115021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33112335205078125},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22015199065208435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1626988649368286},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10696414113044739},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08415549993515015}],"concepts":[{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.8370897769927979},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.752564549446106},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5966638326644897},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.57281893491745},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4773333668708801},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.47018539905548096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45745599269866943},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.44603681564331055},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.4191129207611084},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3576183617115021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33112335205078125},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22015199065208435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1626988649368286},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10696414113044739},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08415549993515015},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tencon.2019.8929445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon.2019.8929445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2019 - 2019 IEEE Region 10 Conference (TENCON)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.800000011920929,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1497280145","https://openalex.org/W1505779585","https://openalex.org/W1762037754","https://openalex.org/W1990042683","https://openalex.org/W1997713256","https://openalex.org/W2013273801","https://openalex.org/W2020996876","https://openalex.org/W2086892549","https://openalex.org/W2112726106","https://openalex.org/W2115967718","https://openalex.org/W2156734731","https://openalex.org/W2163211723","https://openalex.org/W2421558842","https://openalex.org/W2572974507","https://openalex.org/W2970406023","https://openalex.org/W6630006388"],"related_works":["https://openalex.org/W2352173564","https://openalex.org/W1845306153","https://openalex.org/W2166459078","https://openalex.org/W3008046258","https://openalex.org/W2391441277","https://openalex.org/W2306349892","https://openalex.org/W2274682661","https://openalex.org/W2786766270","https://openalex.org/W897560829","https://openalex.org/W2375807149"],"abstract_inverted_index":{"The":[0,46,149],"advantages":[1],"associated":[2,50],"with":[3,51,177,181],"Sliding":[4,48,53,95,112],"Mode":[5,49,54,96,113],"Control,":[6],"namely":[7],"simplicity":[8],"in":[9,16,64,68,130,189],"design,":[10],"reduced":[11],"order":[12,159],"dynamics":[13],"and":[14,137,170,175],"robustness":[15],"sliding":[17,58,62,70],"mode":[18],"are":[19,173],"often":[20],"overshadowed":[21],"by":[22],"the":[23,27,37,57,61,69,77,80,99,103,110,118,124,131,143,178],"chattering":[24],"phenomenon.":[25],"From":[26],"perspective":[28],"of":[29,79,102,108,134,145],"robotic":[30,168],"manipulator":[31,104,169],"control,":[32],"it":[33],"is":[34,106],"essential":[35],"that":[36],"end":[38],"effector":[39],"positions":[40],"itself":[41],"at":[42],"its":[43,187,191],"target":[44],"set.":[45],"Quasi":[47,111],"Discrete-time":[52,94],"Control":[55,97],"where":[56],"variable":[59],"crosses":[60],"surface":[63],"each":[65],"discrete":[66],"instant":[67],"phase,":[71],"attributes":[72],"an":[73],"unsettling":[74],"nature":[75],"to":[76,123,156,185],"positioning":[78],"robot":[81],"arms.":[82],"In":[83],"this":[84,86],"context,":[85],"paper":[87],"proposes":[88],"a":[89,157,164],"new":[90],"reaching":[91,127,151,183],"law":[92,128,152,184],"based":[93],"for":[98],"position":[100],"control":[101,147],"which":[105],"capable":[107],"reducing":[109],"Band":[114],"without":[115,142],"slowing":[116],"down":[117],"system":[119,160],"response":[120],"when":[121],"compared":[122,176],"well":[125,162],"established":[126],"proposed":[129,150],"seminal":[132],"work":[133],"Gao,":[135],"Homaifa":[136],"Wang;":[138],"these":[139],"being":[140],"achieved":[141],"expenditure":[144],"extra":[146],"effort.":[148],"has":[153],"been":[154],"applied":[155],"third":[158],"as":[161,163],"two":[165],"joint":[166],"rigid":[167],"simulation":[171],"results":[172,179],"presented":[174],"obtained":[180],"Gao's":[182],"show":[186],"efficacy":[188],"fulfilling":[190],"various":[192],"attributes.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}