{"id":"https://openalex.org/W2889628063","doi":"https://doi.org/10.1109/vss.2018.8460444","title":"First-Order Continuous Adaptive Sliding Mode Control for Robot Manipulators with Finite-Time Convergence of Trajectories to Real Sliding Mode","display_name":"First-Order Continuous Adaptive Sliding Mode Control for Robot Manipulators with Finite-Time Convergence of Trajectories to Real Sliding Mode","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2889628063","doi":"https://doi.org/10.1109/vss.2018.8460444","mag":"2889628063"},"language":"en","primary_location":{"id":"doi:10.1109/vss.2018.8460444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss.2018.8460444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Workshop on Variable Structure Systems (VSS)","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/A5111051975","display_name":"M. Zeinali","orcid":"https://orcid.org/0009-0005-4875-3081"},"institutions":[{"id":"https://openalex.org/I52353378","display_name":"Laurentian University","ror":"https://ror.org/03rcwtr18","country_code":"CA","type":"education","lineage":["https://openalex.org/I52353378"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M. Zeinali","raw_affiliation_strings":["School of Engineering, Mechanical and Mechatronics Program, Laurentian University, Sudbury, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Mechanical and Mechatronics Program, Laurentian University, Sudbury, Ontario, Canada","institution_ids":["https://openalex.org/I52353378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5111051975"],"corresponding_institution_ids":["https://openalex.org/I52353378"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49688818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"261","last_page":"266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9986000061035156,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9986000061035156,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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":0.9950000047683716,"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":0.8730050325393677},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7586899995803833},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6867782473564148},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5674889087677002},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5492997169494629},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5158368945121765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4765515923500061},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.47420981526374817},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4364580810070038},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.41477152705192566},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3473593592643738},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28679072856903076},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.26597726345062256},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12516331672668457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11571884155273438}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8730050325393677},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7586899995803833},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6867782473564148},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5674889087677002},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5492997169494629},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5158368945121765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4765515923500061},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.47420981526374817},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4364580810070038},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.41477152705192566},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3473593592643738},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28679072856903076},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26597726345062256},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12516331672668457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11571884155273438},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vss.2018.8460444","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss.2018.8460444","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W89237555","https://openalex.org/W1487127700","https://openalex.org/W1526117436","https://openalex.org/W1533463512","https://openalex.org/W1946771514","https://openalex.org/W1990042683","https://openalex.org/W2018851823","https://openalex.org/W2034088441","https://openalex.org/W2051335294","https://openalex.org/W2065313971","https://openalex.org/W2076261642","https://openalex.org/W2095569608","https://openalex.org/W2096369755","https://openalex.org/W2122739526","https://openalex.org/W2125037149","https://openalex.org/W2134668622","https://openalex.org/W2244903178","https://openalex.org/W4300885720","https://openalex.org/W6640817223"],"related_works":["https://openalex.org/W1512021029","https://openalex.org/W2108470770","https://openalex.org/W1972862722","https://openalex.org/W2372856383","https://openalex.org/W2281732014","https://openalex.org/W2015036175","https://openalex.org/W1934622834","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529"],"abstract_inverted_index":{"In":[0,116],"this":[1,117],"paper":[2],"the":[3,22,30,41,49,53,60,63,67,78,82,91,96,99,109,113,119,139,145,165,198,203,207,212,221],"design,":[4],"analysis":[5],"and":[6,52,65,136,153,185,200,209,237],"implementation":[7],"of":[8,21,29,44,59,62,81,95,101,112,124,138,147,155,167,172,175,202,220,226],"improved":[9],"first-order":[10],"continuous":[11],"adaptive":[12,72,110],"sliding":[13,46,74,84,156],"mode":[14,47,75,85,157],"control":[15,28,86,114],"(CASMC)":[16],"based":[17],"on":[18,206],"online":[19],"estimation":[20,225],"lumped":[23,227],"time-varying":[24,148],"uncertainties":[25,149],"for":[26,55,182],"tracking":[27,222],"robot":[31,102,125,179,189],"manipulators":[32],"is":[33,87,105,127,161,180,190,232],"presented.":[34],"The":[35,133,159,169],"proposed":[36,140,213],"method":[37],"allows":[38],"to":[39,107,129,196],"address":[40],"main":[42],"drawbacks":[43],"conventional":[45,83],"control:":[48],"chattering":[50,68],"phenomenon,":[51],"requirement":[54],"a":[56,173,186],"priori":[57],"knowledge":[58],"bounds":[61],"uncertainties,":[64],"also":[66],"problem":[69],"associated":[70],"with":[71],"discontinuous":[73],"controllers,":[76],"while":[77],"robustness":[79,137,160,201],"property":[80,121],"preserved.":[88],"Furthermore,":[89],"in":[90,144,218],"previously":[92],"published":[93],"version":[94],"controller":[97,141,214],"[1],":[98],"estimate":[100],"inertia":[103],"matrix":[104],"needed":[106],"realize":[108],"component":[111],"law.":[115],"work,":[118],"skew-symmetry":[120],"(passivity":[122],"property)":[123],"dynamic":[126,170],"used":[128,181,191],"eliminate":[130],"that":[131],"requirement.":[132],"global":[134],"stability":[135],"are":[142],"established":[143],"presence":[146],"using":[150],"Lyapunov's":[151],"approach":[152],"fundamentals":[154],"theory.":[158],"achieved":[162],"without":[163],"knowing":[164],"bound":[166],"uncertainties.":[168],"model":[171],"two-degrees":[174],"freedom":[176],"(2-DOF)":[177],"rigid":[178],"simulation":[183],"study":[184],"2-DOF":[187],"flexible-link":[188],"as":[192],"an":[193],"experimental":[194,210],"test-bed":[195],"evaluate":[197],"performance,":[199],"controller.":[204],"Based":[205],"simulations":[208],"results,":[211],"performs":[215],"remarkably":[216],"well":[217],"terms":[219],"error":[223],"convergence,":[224],"uncertain":[228],"parameter.":[229],"And":[230],"it":[231],"robust":[233],"against":[234],"un-modeled":[235],"dynamics":[236],"external":[238],"disturbances.":[239]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}