{"id":"https://openalex.org/W2202426375","doi":"https://doi.org/10.1145/2783449.2783453","title":"Adaptive backstepping sliding mode controller with PID sliding surface for a co-ordinated links (COOL) robotic arm","display_name":"Adaptive backstepping sliding mode controller with PID sliding surface for a co-ordinated links (COOL) robotic arm","publication_year":2015,"publication_date":"2015-07-02","ids":{"openalex":"https://openalex.org/W2202426375","doi":"https://doi.org/10.1145/2783449.2783453","mag":"2202426375"},"language":"en","primary_location":{"id":"doi:10.1145/2783449.2783453","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2783449.2783453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 Conference on Advances In Robotics","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/A5048323019","display_name":"Nabanita Adhikary","orcid":"https://orcid.org/0000-0003-3257-663X"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Nabanita Adhikary","raw_affiliation_strings":["Indian Institute of Technology Guwahati, Guwahati, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Guwahati, Guwahati, India","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112318474","display_name":"Chitralekha Mahanta","orcid":null},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Chitralekha Mahanta","raw_affiliation_strings":["Indian Institute of Technology Guwahati, Guwahati, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Guwahati, Guwahati, India","institution_ids":["https://openalex.org/I1317621060"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1317621060"],"apc_list":null,"apc_paid":null,"fwci":0.3408,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66177101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8822288513183594},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7650693655014038},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.76214599609375},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7125360369682312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6186146140098572},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5569919347763062},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48633962869644165},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4803389310836792},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46091631054878235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3543004095554352},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.30707448720932007},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.28698331117630005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16359972953796387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12326723337173462},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0795624852180481},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07437250018119812},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.05087485909461975}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8822288513183594},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7650693655014038},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.76214599609375},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7125360369682312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6186146140098572},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5569919347763062},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48633962869644165},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4803389310836792},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46091631054878235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3543004095554352},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.30707448720932007},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.28698331117630005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16359972953796387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12326723337173462},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0795624852180481},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07437250018119812},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.05087485909461975},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2783449.2783453","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2783449.2783453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 Conference on Advances In Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W159604569","https://openalex.org/W1496777766","https://openalex.org/W1960613717","https://openalex.org/W1977714468","https://openalex.org/W1990042683","https://openalex.org/W1993917498","https://openalex.org/W1996907503","https://openalex.org/W2010673980","https://openalex.org/W2070161062","https://openalex.org/W2085960888","https://openalex.org/W2090167557","https://openalex.org/W2116143174","https://openalex.org/W2117830027","https://openalex.org/W2121070847","https://openalex.org/W2145783107","https://openalex.org/W2157098988","https://openalex.org/W2157540237","https://openalex.org/W2166752325","https://openalex.org/W2170539290","https://openalex.org/W2319111542","https://openalex.org/W3195195709","https://openalex.org/W6629617714","https://openalex.org/W6673047230"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2534185822","https://openalex.org/W2132535444","https://openalex.org/W2367651125","https://openalex.org/W2036311230","https://openalex.org/W1847613412","https://openalex.org/W4382203996"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"adaptive":[4],"backstepping":[5,30],"sliding":[6,14,36,55,71],"mode":[7,37],"controller":[8,31,38,94,121],"with":[9,34,114],"proportional":[10,80],"integral":[11],"derivative":[12],"(PID)":[13],"surface":[15,56],"for":[16,39],"trajectory":[17],"tracking":[18],"control":[19,62],"of":[20,24],"a":[21,35,53,77,101],"6":[22,102],"degrees":[23],"freedom":[25],"(DOF)":[26],"robotic":[27,107],"manipulator.":[28],"A":[29],"is":[32,57,65,73,89],"combined":[33],"imparting":[40],"robustness":[41],"against":[42],"both":[43],"matched":[44],"and":[45],"mismatched":[46],"uncertainties.":[47],"For":[48],"ensuring":[49],"fast":[50],"transient":[51],"response,":[52],"PID":[54],"used.":[58],"Chattering":[59],"in":[60,67,86,112],"the":[61,68,87,93,119],"input,":[63],"which":[64,117],"inherent":[66],"first":[69],"order":[70],"mode,":[72],"reduced":[74],"by":[75,91],"using":[76],"constant":[78],"plus":[79],"reaching":[81],"law.":[82],"Unknown":[83],"uncertainty":[84],"present":[85],"system":[88],"tackled":[90],"tuning":[92],"gain":[95],"adaptively.":[96],"Experiments":[97],"are":[98,111],"conducted":[99],"on":[100],"DoF":[103],"co-ordinated":[104],"links":[105],"(COOL)":[106],"arm.":[108],"Experimental":[109],"results":[110,116],"agreement":[113],"simulation":[115],"validate":[118],"proposed":[120],"algorithm.":[122]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}