{"id":"https://openalex.org/W4297990177","doi":"https://doi.org/10.1109/vss57184.2022.9901675","title":"A Sliding-Mode Fault Tolerant Control for Robotic Manipulators Based on Actuator Switching","display_name":"A Sliding-Mode Fault Tolerant Control for Robotic Manipulators Based on Actuator Switching","publication_year":2022,"publication_date":"2022-09-11","ids":{"openalex":"https://openalex.org/W4297990177","doi":"https://doi.org/10.1109/vss57184.2022.9901675"},"language":"en","primary_location":{"id":"doi:10.1109/vss57184.2022.9901675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss57184.2022.9901675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 16th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5037547770","display_name":"Jinsong Zhao","orcid":"https://orcid.org/0000-0002-8415-7034"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinsong Zhao","raw_affiliation_strings":["Beihang University,School of Energy and Power Engineering,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Energy and Power Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069605605","display_name":"Yan Lin","orcid":"https://orcid.org/0000-0003-4419-9050"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Lin","raw_affiliation_strings":["Shandong University of Science and Technology,College of Electrical Engineering and Automation,Qingdao,China,266510"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University of Science and Technology,College of Electrical Engineering and Automation,Qingdao,China,266510","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101996952","display_name":"Lin Li","orcid":"https://orcid.org/0000-0002-1626-2713"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Li","raw_affiliation_strings":["Beihang University,School of Energy and Power Engineering,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Energy and Power Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"290","last_page":"295"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9983000159263611,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9983000159263611,"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":0.9980999827384949,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9932000041007996,"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/actuator","display_name":"Actuator","score":0.8763955235481262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8231284618377686},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5608190298080444},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5567886233329773},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5332369804382324},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4511331021785736},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44631701707839966},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4364529252052307},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4258826971054077},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4176483750343323},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.4129887819290161},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33518296480178833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28099215030670166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15105310082435608},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12128525972366333},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08505290746688843},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0649137794971466},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.05218234658241272}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8763955235481262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8231284618377686},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5608190298080444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5567886233329773},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5332369804382324},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4511331021785736},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44631701707839966},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4364529252052307},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4258826971054077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4176483750343323},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.4129887819290161},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33518296480178833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28099215030670166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15105310082435608},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12128525972366333},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08505290746688843},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0649137794971466},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.05218234658241272},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vss57184.2022.9901675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vss57184.2022.9901675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 16th International Workshop on Variable Structure Systems (VSS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2054127377","https://openalex.org/W2062373349","https://openalex.org/W2082323100","https://openalex.org/W2092664272","https://openalex.org/W2100328276","https://openalex.org/W2106557935","https://openalex.org/W2130274074","https://openalex.org/W2293200354","https://openalex.org/W2507795633","https://openalex.org/W2626009994","https://openalex.org/W2741431827","https://openalex.org/W2747172592","https://openalex.org/W2789351310","https://openalex.org/W2970938399","https://openalex.org/W3018914305","https://openalex.org/W3133297183","https://openalex.org/W4224223383","https://openalex.org/W4235149835"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W4214878056","https://openalex.org/W1580144672","https://openalex.org/W2142042635","https://openalex.org/W1988127757","https://openalex.org/W4248634784","https://openalex.org/W2103296973"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,16,43,58],"sliding-mode":[4,44],"fault":[5],"tolerant":[6],"control":[7,101],"(FTC)":[8],"based":[9,50],"on":[10,51],"actuator":[11,23,35,70],"switching":[12],"is":[13,31,46,64,73,93],"proposed":[14,78],"for":[15,27],"class":[17],"of":[18,54,60,82,99],"n-link":[19],"robotic":[20,90],"manipulators":[21],"with":[22,36,76],"failures":[24],"and":[25,48],"disturbances,":[26],"which,":[28],"each":[29],"joint":[30],"driven":[32],"by":[33],"an":[34],"several":[37],"healthy":[38],"actuators":[39],"as":[40],"backups.":[41],"First,":[42],"controller":[45],"designed,":[47],"then":[49],"the":[52,55,77,83,97,100],"value":[53],"sliding":[56],"surfaces,":[57],"set":[59],"monitoring":[61],"functions":[62],"(MFs)":[63],"constructed":[65],"to":[66,95],"tackle":[67],"those":[68],"serious":[69],"failures.":[71],"It":[72],"shown":[74],"that":[75],"scheme,":[79],"all":[80],"signals":[81],"closed-loop":[84],"system":[85],"are":[86],"bounded.":[87],"A":[88],"two-link":[89],"manipulator":[91],"example":[92],"used":[94],"verify":[96],"effectiveness":[98],"scheme.":[102]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}