{"id":"https://openalex.org/W2947806187","doi":"https://doi.org/10.1109/tie.2019.2918475","title":"Adaptive Backstepping Sliding Mode Control for Equilibrium Position Tracking of an Electrohydraulic Elastic Manipulator","display_name":"Adaptive Backstepping Sliding Mode Control for Equilibrium Position Tracking of an Electrohydraulic Elastic Manipulator","publication_year":2019,"publication_date":"2019-05-29","ids":{"openalex":"https://openalex.org/W2947806187","doi":"https://doi.org/10.1109/tie.2019.2918475","mag":"2947806187"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2918475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2918475","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/A5016623753","display_name":"Duc Thien Tran","orcid":"https://orcid.org/0000-0002-6684-0681"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Duc Thien Tran","raw_affiliation_strings":["School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6684-0681","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Ulsan, Ulsan, South Korea","institution_ids":["https://openalex.org/I40542001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079377177","display_name":"Dang Xuan Ba","orcid":null},"institutions":[{"id":"https://openalex.org/I4210148201","display_name":"Ho Chi Minh City University of Technology and Engineering","ror":"https://ror.org/05hzn5427","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210148201"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Dang Xuan Ba","raw_affiliation_strings":["Department of Automatic Control, HCMC University of Technology and Education (HCMUTE), Ho Chi Minh City, Vietnam"],"raw_orcid":"https://orcid.org/0000-0001-5207-9548","affiliations":[{"raw_affiliation_string":"Department of Automatic Control, HCMC University of Technology and Education (HCMUTE), Ho Chi Minh City, Vietnam","institution_ids":["https://openalex.org/I4210148201"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071429693","display_name":"Kyoung Kwan Ahn","orcid":"https://orcid.org/0000-0002-7927-3348"},"institutions":[{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoung Kwan Ahn","raw_affiliation_strings":["School of Mechanical Engineering, University of Ulsan, Ulsan, Korea"],"raw_orcid":"https://orcid.org/0000-0002-7927-3348","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Ulsan, Ulsan, Korea","institution_ids":["https://openalex.org/I40542001"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016623753"],"corresponding_institution_ids":["https://openalex.org/I40542001"],"apc_list":null,"apc_paid":null,"fwci":7.8541,"has_fulltext":false,"cited_by_count":110,"citation_normalized_percentile":{"value":0.98312192,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"67","issue":"5","first_page":"3860","last_page":"3869"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"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/T14011","display_name":"Elevator Systems and Control","score":0.9840999841690063,"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/T13050","display_name":"Oil and Gas Production Techniques","score":0.9735999703407288,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.8992029428482056},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8969705104827881},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6012991070747375},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5981937050819397},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5687189698219299},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5606929063796997},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5278313755989075},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5001435279846191},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4976673424243927},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.47109565138816833},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4622822105884552},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.45551010966300964},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4513489603996277},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.44164761900901794},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43356266617774963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40198445320129395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38201290369033813},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3623213768005371},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2843993604183197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2484540343284607},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0911467969417572},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08894020318984985},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07277688384056091}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8992029428482056},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8969705104827881},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6012991070747375},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5981937050819397},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5687189698219299},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5606929063796997},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5278313755989075},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5001435279846191},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4976673424243927},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.47109565138816833},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4622822105884552},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.45551010966300964},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4513489603996277},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.44164761900901794},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43356266617774963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40198445320129395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38201290369033813},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3623213768005371},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2843993604183197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2484540343284607},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0911467969417572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08894020318984985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07277688384056091},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2918475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2918475","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":[{"id":"https://openalex.org/G4842239105","display_name":null,"funder_award_id":"2017R1A2B3004625","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1512338139","https://openalex.org/W1516289514","https://openalex.org/W2042003268","https://openalex.org/W2045013876","https://openalex.org/W2051681843","https://openalex.org/W2056868963","https://openalex.org/W2066722526","https://openalex.org/W2075233632","https://openalex.org/W2085470933","https://openalex.org/W2090167557","https://openalex.org/W2092959905","https://openalex.org/W2113899190","https://openalex.org/W2150030751","https://openalex.org/W2153463745","https://openalex.org/W2180663253","https://openalex.org/W2225978254","https://openalex.org/W2280572383","https://openalex.org/W2333868129","https://openalex.org/W2343693428","https://openalex.org/W2414737732","https://openalex.org/W2507597663","https://openalex.org/W2541693935","https://openalex.org/W2546451873","https://openalex.org/W2602009451","https://openalex.org/W2729047699","https://openalex.org/W2744805186","https://openalex.org/W2768212889","https://openalex.org/W2774706289","https://openalex.org/W2775438297","https://openalex.org/W2788718239","https://openalex.org/W2794495373","https://openalex.org/W2802570446","https://openalex.org/W2802966721","https://openalex.org/W2889291739","https://openalex.org/W3099340829","https://openalex.org/W4300885720","https://openalex.org/W6630816804"],"related_works":["https://openalex.org/W1972061147","https://openalex.org/W1530778717","https://openalex.org/W2117061280","https://openalex.org/W3177256865","https://openalex.org/W1973298112","https://openalex.org/W2378628179","https://openalex.org/W2382713386","https://openalex.org/W2115261773","https://openalex.org/W2021648837","https://openalex.org/W2392266503"],"abstract_inverted_index":{"The":[0,61,114,167],"electrohydraulic":[1,7],"elastic":[2,38],"manipulator":[3],"(EEM)":[4],"includes":[5],"an":[6,45,72,78],"servo":[8],"system":[9,19,91],"and":[10,28,58,77,148,161,173,190],"a":[11,17,67],"variable":[12],"stiffness":[13,189],"mechanism.":[14],"It":[15],"is":[16,64,155,170],"complex":[18],"with":[20,52,143,175,186],"nonlinear":[21,80],"elements,":[22],"such":[23],"as":[24,31,33,121],"friction,":[25],"parametric":[26,94],"uncertainties,":[27],"modeling":[29],"error":[30],"well":[32],"coupling":[34],"torques":[35],"in":[36,89],"the":[37,50,53,56,90,93,130,144,152,159,164,180,183,187,191],"joint.":[39],"This":[40],"paper":[41],"focuses":[42],"on":[43,66],"developing":[44],"equilibrium":[46],"position":[47],"controller":[48,63],"for":[49],"EEM":[51],"presence":[54],"of":[55,86,110,137,146,163,182],"matched":[57,147],"unmatched":[59,149],"uncertainties.":[60,150,192],"proposed":[62,168,184],"based":[65],"backstepping":[68],"scheme":[69],"optimized":[70],"using":[71],"adaptive":[73,79,100],"sliding":[74],"mode":[75],"technique":[76],"PI":[81],"structure.":[82],"To":[83],"estimate":[84],"parameters":[85],"known":[87],"functions":[88],"dynamics,":[92],"learning":[95],"laws":[96,103,139],"are":[97,104],"employed,":[98],"while":[99],"switching":[101,116],"gain":[102],"used":[105,156],"to":[106,129,157,178],"adjust":[107],"robust":[108,115],"gains":[109,117],"discontinuous":[111],"control":[112,123],"terms.":[113],"increase":[118],"or":[119,127],"decrease":[120],"state":[122],"variables":[124],"move":[125],"away":[126],"close":[128],"surfaces,":[131],"respectively.":[132],"Working":[133],"together,":[134],"these":[135],"kinds":[136],"adaptation":[138],"can":[140],"effectively":[141],"deal":[142],"problem":[145],"Next,":[151],"Lyapunov":[153],"approach":[154],"prove":[158],"robustness":[160],"stability":[162],"whole":[165],"system.":[166],"method":[169,185],"practically":[171],"implemented":[172],"compared":[174],"other":[176],"controllers":[177],"demonstrate":[179],"effectiveness":[181],"variant":[188]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":19}],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}
