{"id":"https://openalex.org/W4391741561","doi":"https://doi.org/10.1109/tie.2024.3357875","title":"Time-Delay Sliding Mode Control for Trajectory Tracking of Robot Manipulators","display_name":"Time-Delay Sliding Mode Control for Trajectory Tracking of Robot Manipulators","publication_year":2024,"publication_date":"2024-02-12","ids":{"openalex":"https://openalex.org/W4391741561","doi":"https://doi.org/10.1109/tie.2024.3357875"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3357875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3357875","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/A5033963870","display_name":"Jiae Yang","orcid":"https://orcid.org/0009-0006-2383-9820"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiae Yang","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0006-2383-9820","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100767800","display_name":"Yujia Wang","orcid":"https://orcid.org/0000-0002-6402-3514"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujia Wang","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6402-3514","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061239630","display_name":"Tong Wang","orcid":"https://orcid.org/0000-0002-7252-1695"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Wang","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7252-1695","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033550574","display_name":"Zhijian Hu","orcid":"https://orcid.org/0000-0002-8789-6246"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhijian Hu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-8789-6246","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004201510","display_name":"Xuebo Yang","orcid":"https://orcid.org/0000-0002-9867-0488"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Yang","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-9867-0488","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057597956","display_name":"Juan J. Rodr\u00edguez-Andina","orcid":"https://orcid.org/0000-0002-0919-1793"},"institutions":[{"id":"https://openalex.org/I159389169","display_name":"Ningbo University of Technology","ror":"https://ror.org/037dym702","country_code":"CN","type":"education","lineage":["https://openalex.org/I159389169"]},{"id":"https://openalex.org/I6289922","display_name":"Universidade de Vigo","ror":"https://ror.org/05rdf8595","country_code":"ES","type":"education","lineage":["https://openalex.org/I6289922"]}],"countries":["CN","ES"],"is_corresponding":false,"raw_author_name":"Juan J. Rodriguez-Andina","raw_affiliation_strings":["Ningbo University of Technology, Ningbo, China","Department of Electronic Technology, University of Vigo, Vigo, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0919-1793","affiliations":[{"raw_affiliation_string":"Ningbo University of Technology, Ningbo, China","institution_ids":["https://openalex.org/I159389169"]},{"raw_affiliation_string":"Department of Electronic Technology, University of Vigo, Vigo, Spain","institution_ids":["https://openalex.org/I6289922"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.0087,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.98563147,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"71","issue":"10","first_page":"13083","last_page":"13091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9976000189781189,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9976000189781189,"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/control-theory","display_name":"Control theory (sociology)","score":0.8625063300132751},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.7620801329612732},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.659889280796051},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6413284540176392},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5946358442306519},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5902896523475647},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5459541082382202},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5383016467094421},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4829549193382263},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.45184871554374695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42514553666114807},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25495439767837524},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1882149577140808},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.18562334775924683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1725028157234192},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06313645839691162}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8625063300132751},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.7620801329612732},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.659889280796051},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6413284540176392},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5946358442306519},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5902896523475647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5459541082382202},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5383016467094421},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4829549193382263},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.45184871554374695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42514553666114807},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25495439767837524},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1882149577140808},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.18562334775924683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1725028157234192},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06313645839691162},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3357875","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3357875","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W2010075222","https://openalex.org/W2075217678","https://openalex.org/W2092959905","https://openalex.org/W2099489172","https://openalex.org/W2343067029","https://openalex.org/W2395392600","https://openalex.org/W2807358671","https://openalex.org/W2911466177","https://openalex.org/W2921325762","https://openalex.org/W2921509807","https://openalex.org/W2961545499","https://openalex.org/W3004863268","https://openalex.org/W3037753856","https://openalex.org/W3128501144","https://openalex.org/W3131832144","https://openalex.org/W3136268103","https://openalex.org/W3152836526","https://openalex.org/W3162094662","https://openalex.org/W4210843582","https://openalex.org/W4213451691","https://openalex.org/W4231134887","https://openalex.org/W4287553808","https://openalex.org/W4313892988","https://openalex.org/W6840557810"],"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":{"Sliding":[0],"mode":[1,107],"control":[2,111],"strategies":[3],"have":[4,13],"been":[5],"widely":[6],"used":[7],"for":[8,124,146],"tracking":[9,27,71,180],"robot":[10],"manipulators":[11],"and":[12,78,97,161,165],"demonstrated":[14],"their":[15],"effectiveness.":[16],"However,":[17],"certain":[18],"issues":[19],"still":[20],"persist.":[21],"One":[22],"of":[23,128,140,174],"them":[24],"is":[25,67,85,100,156],"that":[26],"error":[28],"may":[29],"converge":[30],"to":[31,39,44,69,103,137,149,170],"a":[32,63,74],"bounded":[33],"region":[34],"surrounding":[35],"the":[36,40,56,88,93,98,122,126,144,151,172,175],"origin,":[37],"due":[38],"sliding":[41,58,65,83,89,106,141],"surface":[42,66,84],"failing":[43],"reach":[45],"zero.":[46],"This":[47],"can":[48,133],"be":[49,134],"so":[50],"because":[51],"system's":[52],"motion":[53],"depends":[54],"on":[55],"designed":[57],"surface.":[59],"In":[60],"this":[61],"article,":[62],"new":[64],"proposed":[68,110,176],"enhance":[70],"performance":[72],"with":[73],"fast":[75],"convergence":[76],"rate":[77],"minimum":[79],"steady-state":[80,152],"error.":[81],"The":[82,109],"formulated":[86],"using":[87],"variable":[90],"value":[91],"at":[92],"previous":[94],"sampling":[95],"instant,":[96],"technique":[99],"therefore":[101],"referred":[102],"as":[104],"time-delay":[105],"control.":[108],"strategy":[112],"offers":[113],"several":[114],"advantages:":[115],"first,":[116],"it":[117,132,155],"achieves":[118],"better":[119],"precision":[120],"without":[121,143],"need":[123,145],"increasing":[125],"number":[127],"tunable":[129],"parameters;":[130],"second,":[131],"readily":[135],"extended":[136],"different":[138],"types":[139],"surfaces,":[142],"complex":[147],"architectures":[148],"decrease":[150],"error;":[153],"third,":[154],"robust":[157],"against":[158],"unknown":[159],"dynamics":[160],"payload.":[162],"Numerical":[163],"simulations":[164],"practical":[166],"experiments":[167],"are":[168],"reported":[169],"demonstrate":[171],"effectiveness":[173],"approach":[177],"in":[178],"enhancing":[179],"performance.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":6}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}