{"id":"https://openalex.org/W4411665244","doi":"https://doi.org/10.1145/3733774.3735328","title":"A Hybrid PID-Enhanced Sliding Mode Control Strategy for Robust Visual Servoing in Six-Axis Robotic Arms","display_name":"A Hybrid PID-Enhanced Sliding Mode Control Strategy for Robust Visual Servoing in Six-Axis Robotic Arms","publication_year":2025,"publication_date":"2025-05-07","ids":{"openalex":"https://openalex.org/W4411665244","doi":"https://doi.org/10.1145/3733774.3735328"},"language":"en","primary_location":{"id":"doi:10.1145/3733774.3735328","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3733774.3735328","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 5th International Conference on Robotics and Control Engineering","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3733774.3735328","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Ziqi Wang","orcid":"https://orcid.org/0009-0000-3825-9489"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Wang","raw_affiliation_strings":["School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China"],"raw_orcid":"https://orcid.org/0009-0000-3825-9489","affiliations":[{"raw_affiliation_string":"School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077447929","display_name":"Peng Ji","orcid":"https://orcid.org/0000-0001-5476-8734"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Ji","raw_affiliation_strings":["School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China"],"raw_orcid":"https://orcid.org/0000-0001-5476-8734","affiliations":[{"raw_affiliation_string":"School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034676542","display_name":"Yonglin Dou","orcid":null},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonglin Dou","raw_affiliation_strings":["School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China"],"raw_orcid":"https://orcid.org/0009-0006-8909-055X","affiliations":[{"raw_affiliation_string":"School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085979475","display_name":"Yanxu Pang","orcid":null},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanxu Pang","raw_affiliation_strings":["School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China"],"raw_orcid":"https://orcid.org/0009-0006-8741-010X","affiliations":[{"raw_affiliation_string":"School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073459998","display_name":"Fengying Ma","orcid":"https://orcid.org/0000-0002-3649-3113"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengying Ma","raw_affiliation_strings":["School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China"],"raw_orcid":"https://orcid.org/0000-0002-3649-3113","affiliations":[{"raw_affiliation_string":"School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan City, Shandong Province, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]}],"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":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.986299991607666,"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":0.9631999731063843,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9465910196304321},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.7094274163246155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.672111451625824},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5975170731544495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5009939670562744},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46667611598968506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4613499641418457},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.43731677532196045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33617928624153137},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32837146520614624},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.308876097202301},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24477320909500122},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1335391104221344},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10004240274429321}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9465910196304321},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7094274163246155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.672111451625824},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5975170731544495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5009939670562744},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46667611598968506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4613499641418457},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43731677532196045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33617928624153137},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32837146520614624},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.308876097202301},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24477320909500122},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1335391104221344},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10004240274429321},{"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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3733774.3735328","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3733774.3735328","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 5th International Conference on Robotics and Control Engineering","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3733774.3735328","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3733774.3735328","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 5th International Conference on Robotics and Control Engineering","raw_type":"proceedings-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7900000214576721,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2021580857","https://openalex.org/W2029448697","https://openalex.org/W2767818959","https://openalex.org/W2791608618","https://openalex.org/W2792867787","https://openalex.org/W2795727968","https://openalex.org/W2798507321","https://openalex.org/W2890383032","https://openalex.org/W2902745617","https://openalex.org/W3023162766","https://openalex.org/W3156392458","https://openalex.org/W3214519818","https://openalex.org/W4205774157","https://openalex.org/W4308574832","https://openalex.org/W4388043324","https://openalex.org/W4394766179","https://openalex.org/W4399861645"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"Visual":[0,41],"servoing":[1],"of":[2,86,110],"six-axis":[3,72],"robotic":[4,73,118],"arms":[5],"faces":[6],"significant":[7],"challenges":[8],"in":[9,116],"dynamic":[10,95],"and":[11,19,64,88,96,108],"uncertain":[12,97],"environments,":[13],"particularly":[14],"due":[15],"to":[16,100],"external":[17],"disturbances":[18],"modeling":[20],"inaccuracies.":[21],"This":[22],"study":[23],"proposes":[24],"a":[25,71,81],"hybrid":[26,113],"control":[27,32,48,114],"strategy":[28,115],"combining":[29],"Proportional-Integral-Derivative":[30],"(PID)":[31],"with":[33],"Sliding":[34],"Mode":[35],"Control":[36],"(SMC)":[37],"within":[38],"an":[39,89],"Image-Based":[40],"Servoing":[42],"(IBVS)":[43],"framework.":[44],"By":[45],"embedding":[46],"PID":[47],"into":[49],"the":[50,54,77,106,111],"SMC":[51],"sliding":[52],"surface,":[53],"proposed":[55,78,112],"method":[56],"enhances":[57],"trajectory":[58,82],"smoothness,":[59],"improves":[60,90],"disturbance":[61],"rejection":[62],"capability,":[63],"effectively":[65],"reduces":[66],"chattering.":[67],"Experimental":[68],"validation":[69],"on":[70],"arm":[74],"demonstrates":[75],"that":[76],"approach":[79],"achieves":[80],"tracking":[83],"error":[84],"reduction":[85],"30%,":[87],"robustness":[91],"by":[92],"50%":[93],"under":[94],"conditions":[98],"compared":[99],"conventional":[101],"methods.":[102],"These":[103],"results":[104],"confirm":[105],"effectiveness":[107],"superiority":[109],"real-world":[117],"applications.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}