{"id":"https://openalex.org/W4296501456","doi":"https://doi.org/10.1109/tie.2022.3206693","title":"Modified Three-Element Modeling and Robust Tracking Control for a Planar Pneumatic Soft Actuator","display_name":"Modified Three-Element Modeling and Robust Tracking Control for a Planar Pneumatic Soft Actuator","publication_year":2022,"publication_date":"2022-09-20","ids":{"openalex":"https://openalex.org/W4296501456","doi":"https://doi.org/10.1109/tie.2022.3206693"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3206693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3206693","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5074428850","display_name":"Shiying Zhao","orcid":"https://orcid.org/0000-0001-6835-5586"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiying Zhao","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6835-5586","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068652220","display_name":"Ze Yan","orcid":"https://orcid.org/0000-0003-2512-7908"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]},{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Ze Yan","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2512-7908","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089881688","display_name":"Qingxin Meng","orcid":"https://orcid.org/0000-0002-2175-7120"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxin Meng","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2175-7120","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075745811","display_name":"Huai Xiao","orcid":"https://orcid.org/0000-0002-2943-1424"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huai Xiao","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2943-1424","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042853971","display_name":"Xuzhi Lai","orcid":"https://orcid.org/0000-0002-5672-6762"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuzhi Lai","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5672-6762","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074710425","display_name":"Min Wu","orcid":"https://orcid.org/0000-0002-0668-8315"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Wu","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan, China","Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-0668-8315","affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China","institution_ids":["https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.5146,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.80802069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"70","issue":"9","first_page":"9237","last_page":"9247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9990000128746033,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9865000247955322,"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":0.8040429353713989},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7053534984588623},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.7029705047607422},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5764597654342651},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5113062858581543},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4842659831047058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47268277406692505},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.470441997051239},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46264776587486267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45963531732559204},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.45912161469459534},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.45834988355636597},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4504193663597107},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4210623800754547},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.41676977276802063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2879924774169922},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27544254064559937},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15681743621826172},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0954216718673706}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8040429353713989},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7053534984588623},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.7029705047607422},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5764597654342651},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5113062858581543},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4842659831047058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47268277406692505},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.470441997051239},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46264776587486267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45963531732559204},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.45912161469459534},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.45834988355636597},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4504193663597107},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4210623800754547},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.41676977276802063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2879924774169922},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27544254064559937},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15681743621826172},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0954216718673706},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2022.3206693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3206693","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G1142489694","display_name":null,"funder_award_id":"2022088","funder_id":"https://openalex.org/F4320328899","funder_display_name":"China University of Geosciences"},{"id":"https://openalex.org/G1302836888","display_name":null,"funder_award_id":"61773353","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G26576258","display_name":null,"funder_award_id":"B17040","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G5613434175","display_name":null,"funder_award_id":"202006410094","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"id":"https://openalex.org/F4320328899","display_name":"China University of Geosciences","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1989061480","https://openalex.org/W1990851787","https://openalex.org/W2000795873","https://openalex.org/W2038095121","https://openalex.org/W2074045681","https://openalex.org/W2076480290","https://openalex.org/W2079391994","https://openalex.org/W2111453604","https://openalex.org/W2562369931","https://openalex.org/W2761657948","https://openalex.org/W2803612754","https://openalex.org/W2896222509","https://openalex.org/W2897004653","https://openalex.org/W2912184901","https://openalex.org/W2927974577","https://openalex.org/W2964300760","https://openalex.org/W2970540898","https://openalex.org/W3010670359","https://openalex.org/W3037414720","https://openalex.org/W3088632941","https://openalex.org/W3093889868","https://openalex.org/W3106934322","https://openalex.org/W3110252436","https://openalex.org/W3127408730","https://openalex.org/W3185189314","https://openalex.org/W3187756113","https://openalex.org/W3198645055","https://openalex.org/W3200710333","https://openalex.org/W3207944416","https://openalex.org/W4206210456"],"related_works":["https://openalex.org/W2911666782","https://openalex.org/W4312473168","https://openalex.org/W2809633875","https://openalex.org/W4211124276","https://openalex.org/W4200033498","https://openalex.org/W3095748503","https://openalex.org/W2291990610","https://openalex.org/W3005638187","https://openalex.org/W2989641551","https://openalex.org/W3157594975"],"abstract_inverted_index":{"In":[0],"pneumatic":[1,5,38],"soft":[2,6],"robotics":[3],"systems,":[4],"actuators":[7],"(PSAs)":[8],"are":[9,80,137,152],"the":[10,20,62,68,74,78,91,107,110,121,124,130,141,155,159,162,170,174,180,185,193],"most":[11],"important":[12],"components,":[13],"so":[14],"it":[15],"is":[16,102,166,188,196],"necessary":[17],"to":[18,60,172],"study":[19],"precise":[21],"modeling":[22],"and":[23,42,49,112,149,161],"control":[24,56,65,177,186],"over":[25],"PSAs":[26],"for":[27],"application.":[28],"This":[29],"article":[30],"focuses":[31],"on":[32,83,95,169],"a":[33,44,50,99],"self-designed":[34],"planar":[35],"PSA,":[36],"named":[37],"bellow":[39],"actuator":[40],"(PBA),":[41],"proposes":[43],"modified":[45],"three-element":[46],"model":[47],"(MTEM)":[48],"nonlinear":[51],"disturbance":[52],"observer-based":[53],"sliding":[54],"mode":[55],"(NDO-based":[57],"SMC)":[58],"method":[59,165,195],"achieve":[61],"robust":[63,175],"tracking":[64,176],"objective":[66,178],"of":[67,77,90,109,123,158,179,184,192],"PBA":[69,79,111,125],"with":[70,126],"multiple":[71,156],"uncertainties.":[72],"First,":[73],"dynamic":[75,97],"characteristics":[76],"analyzed":[81],"based":[82,94,168],"experimental":[84],"data":[85],"obtained":[86],"from":[87],"open-loop":[88],"experiments":[89],"PBA.":[92,181],"Then,":[93],"these":[96],"characteristics,":[98],"semiphenomenological":[100],"MTEM":[101,171],"established":[103],"considering":[104],"coupling":[105],"between":[106],"dynamics":[108,122],"load":[113],"as":[114,116,154],"well":[115],"friction,":[117],"which":[118],"can":[119],"describe":[120],"changing":[127],"loads":[128],"in":[129],"rough":[131],"horizontal":[132],"plane":[133],"precisely.":[134],"Model":[135],"parameters":[136],"then":[138],"identified":[139],"by":[140,198],"Levenberg\u2013Marquardt":[142],"algorithm.":[143],"Next,":[144],"identification":[145],"errors,":[146],"device":[147],"disturbances,":[148],"external":[150],"disturbances":[151],"regarded":[153],"uncertainties":[157],"PBA,":[160],"NDO-based":[163],"SMC":[164],"proposed":[167,194],"realize":[173],"The":[182,190],"stability":[183],"system":[187],"proved.":[189],"effectiveness":[191],"verified":[197],"experiments.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
