{"id":"https://openalex.org/W4400314730","doi":"https://doi.org/10.1109/tsmc.2024.3407974","title":"Practical Reset Logarithmic Sliding Mode Control for Physical Human\u2013Robot Interaction With Sensorless Behavior Estimation","display_name":"Practical Reset Logarithmic Sliding Mode Control for Physical Human\u2013Robot Interaction With Sensorless Behavior Estimation","publication_year":2024,"publication_date":"2024-07-04","ids":{"openalex":"https://openalex.org/W4400314730","doi":"https://doi.org/10.1109/tsmc.2024.3407974"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2024.3407974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3407974","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5028318732","display_name":"Zhiqiang Ma","orcid":"https://orcid.org/0000-0002-6791-1162"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Ma","raw_affiliation_strings":["Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-6791-1162","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054823745","display_name":"Xiaolong Duan","orcid":"https://orcid.org/0009-0000-9015-8650"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Duan","raw_affiliation_strings":["Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0000-9015-8650","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089910884","display_name":"Hanlin Dong","orcid":"https://orcid.org/0000-0002-8481-4866"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanlin Dong","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-8481-4866","affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083493899","display_name":"Zhengxiong Liu","orcid":"https://orcid.org/0000-0002-9427-4066"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxiong Liu","raw_affiliation_strings":["Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-9427-4066","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114187186","display_name":"Yilei Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yilei Zhong","raw_affiliation_strings":["Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0004-7831-7064","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397589","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0002-4134-901X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091127758","display_name":"Panfeng Huang","orcid":"https://orcid.org/0000-0002-5132-9602"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panfeng Huang","raw_affiliation_strings":["Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-5132-9602","affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":1.3577,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80338145,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"54","issue":"10","first_page":"5901","last_page":"5911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9976000189781189,"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":0.9973000288009644,"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":0.7288216352462769},{"id":"https://openalex.org/keywords/reset","display_name":"Reset (finance)","score":0.6791070103645325},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5783900022506714},{"id":"https://openalex.org/keywords/logarithm","display_name":"Logarithm","score":0.5119587182998657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4971204102039337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4815126359462738},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.47194451093673706},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.453340083360672},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4041192829608917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2616089880466461},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2494153082370758},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20901775360107422},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.14597639441490173},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.113475501537323},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.05385419726371765}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7288216352462769},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.6791070103645325},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5783900022506714},{"id":"https://openalex.org/C39927690","wikidata":"https://www.wikidata.org/wiki/Q11197","display_name":"Logarithm","level":2,"score":0.5119587182998657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4971204102039337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4815126359462738},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.47194451093673706},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.453340083360672},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4041192829608917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2616089880466461},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2494153082370758},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20901775360107422},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.14597639441490173},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.113475501537323},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.05385419726371765},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2024.3407974","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2024.3407974","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G172774376","display_name":null,"funder_award_id":"62373305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1548528537","https://openalex.org/W2000201135","https://openalex.org/W2022365837","https://openalex.org/W2029620621","https://openalex.org/W2150024155","https://openalex.org/W2754632396","https://openalex.org/W2767704770","https://openalex.org/W2788731403","https://openalex.org/W2888838050","https://openalex.org/W2897873640","https://openalex.org/W2898880028","https://openalex.org/W2901747954","https://openalex.org/W2907920236","https://openalex.org/W2945935987","https://openalex.org/W2958749291","https://openalex.org/W2980410359","https://openalex.org/W2991535721","https://openalex.org/W2997543521","https://openalex.org/W2997683045","https://openalex.org/W3020096382","https://openalex.org/W3059965140","https://openalex.org/W3114952123","https://openalex.org/W3125674422","https://openalex.org/W3130500701","https://openalex.org/W3132593795","https://openalex.org/W3187756113","https://openalex.org/W3188067267","https://openalex.org/W3200066794","https://openalex.org/W4205320091","https://openalex.org/W4210843582","https://openalex.org/W4226334784","https://openalex.org/W4281665577","https://openalex.org/W4283725589","https://openalex.org/W4292983177","https://openalex.org/W4312606238","https://openalex.org/W4390204377"],"related_works":["https://openalex.org/W350273603","https://openalex.org/W2393495588","https://openalex.org/W96259911","https://openalex.org/W2168225754","https://openalex.org/W4385608460","https://openalex.org/W2370772865","https://openalex.org/W1528611913","https://openalex.org/W2000034628","https://openalex.org/W2387487224","https://openalex.org/W4366146733"],"abstract_inverted_index":{"This":[0],"article":[1],"considers":[2],"the":[3,30,37,48,58,75,80,86,92,101,105,119,124,136,151,162],"implementation":[4],"of":[5,94,104,123,153],"an":[6],"observer-based":[7],"logarithmic":[8,31,49,127],"control":[9,76],"scheme":[10],"for":[11,131],"physical":[12],"human-robot":[13,132],"interaction,":[14],"which":[15,99],"is":[16,72,89,159],"a":[17,26],"typical":[18],"Lagrangian":[19],"system.":[20],"The":[21,83,113],"novelty":[22],"lies":[23],"in":[24,29,47,66,156],"using":[25,61],"switching":[27],"term":[28],"sliding":[32,50,59,87],"mode":[33,51],"observer":[34,130],"to":[35,54,78,135,145],"describe":[36],"operator\u2019s":[38],"behavior":[39],"without":[40],"any":[41],"sensors,":[42],"and":[43,107,115,121,129,140,148],"applying":[44],"adaptive":[45],"parameters":[46],"controller":[52],"(SMC)":[53],"practically":[55],"stabilize":[56],"reaching":[57,64],"surface":[60,88],"chattering-free":[62],"nonsingular":[63],"law":[65],"finite":[67],"time.":[68],"A":[69],"reset":[70,126],"mechanism":[71],"synthesized":[73],"into":[74],"system":[77],"enhance":[79],"transient":[81,154],"response.":[82],"motion":[84],"on":[85],"analyzed":[90],"from":[91,98],"perspective":[93],"practical":[95],"finite-time":[96],"stability,":[97],"both":[100],"convergence":[102],"regions":[103],"tracking":[106],"estimate":[108],"errors":[109],"can":[110],"be":[111],"determined.":[112],"numerical":[114],"experimental":[116,157],"results":[117,158],"verify":[118],"effectiveness":[120],"advantage":[122],"proposed":[125],"SMC":[128,139],"interaction":[133],"compared":[134],"existing":[137],"linear":[138],"terminal":[141],"SMC.":[142],"With":[143],"regards":[144],"settling":[146],"time":[147],"rising":[149],"time,":[150],"superiority":[152],"performance":[155],"coincident":[160],"with":[161],"stability":[163],"analysis.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}