{"id":"https://openalex.org/W4405376491","doi":"https://doi.org/10.1177/01423312241297389","title":"Adaptive robust non-singular fast terminal sliding mode control for a two-link robotic manipulator with NN-based ESO","display_name":"Adaptive robust non-singular fast terminal sliding mode control for a two-link robotic manipulator with NN-based ESO","publication_year":2024,"publication_date":"2024-12-13","ids":{"openalex":"https://openalex.org/W4405376491","doi":"https://doi.org/10.1177/01423312241297389"},"language":"en","primary_location":{"id":"doi:10.1177/01423312241297389","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241297389","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5114928559","display_name":"Lei Zhou","orcid":"https://orcid.org/0009-0008-3550-3528"},"institutions":[{"id":"https://openalex.org/I114117164","display_name":"University of Science and Technology Liaoning","ror":"https://ror.org/03grx7119","country_code":"CN","type":"education","lineage":["https://openalex.org/I114117164"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhou","raw_affiliation_strings":["School of Electronic and Information Engineering, University of Science and Technology Liaoning, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, University of Science and Technology Liaoning, China","institution_ids":["https://openalex.org/I114117164"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048336766","display_name":"Wei Dong","orcid":"https://orcid.org/0000-0002-0728-2886"},"institutions":[{"id":"https://openalex.org/I114117164","display_name":"University of Science and Technology Liaoning","ror":"https://ror.org/03grx7119","country_code":"CN","type":"education","lineage":["https://openalex.org/I114117164"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dong Wei","raw_affiliation_strings":["School of Electronic and Information Engineering, University of Science and Technology Liaoning, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, University of Science and Technology Liaoning, China","institution_ids":["https://openalex.org/I114117164"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012787525","display_name":"Weitian He","orcid":"https://orcid.org/0000-0003-2297-9363"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weitian He","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048336766"],"corresponding_institution_ids":["https://openalex.org/I114117164"],"apc_list":null,"apc_paid":null,"fwci":0.3495,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62969204,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"48","issue":"4","first_page":"690","last_page":"700"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.996999979019165,"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/control-theory","display_name":"Control theory (sociology)","score":0.7451899647712708},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.7160687446594238},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.6785603761672974},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6744545102119446},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6142340302467346},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.6050032377243042},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5553984642028809},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5082125663757324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5069780349731445},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.469424307346344},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4409763216972351},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.42102983593940735},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3644260764122009},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35782456398010254},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3303956985473633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23223242163658142},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.22947737574577332},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1819610297679901},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15623599290847778}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7451899647712708},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.7160687446594238},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.6785603761672974},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6744545102119446},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6142340302467346},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.6050032377243042},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5553984642028809},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5082125663757324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5069780349731445},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.469424307346344},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4409763216972351},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.42102983593940735},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3644260764122009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35782456398010254},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3303956985473633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23223242163658142},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.22947737574577332},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1819610297679901},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15623599290847778},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/01423312241297389","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241297389","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1594461660","https://openalex.org/W2112223346","https://openalex.org/W2114355399","https://openalex.org/W2142886492","https://openalex.org/W2184993170","https://openalex.org/W2324541212","https://openalex.org/W2569757722","https://openalex.org/W2789897185","https://openalex.org/W2900234443","https://openalex.org/W2924676539","https://openalex.org/W2944517827","https://openalex.org/W2968077796","https://openalex.org/W2989696925","https://openalex.org/W3009523569","https://openalex.org/W3014210440","https://openalex.org/W3018404815","https://openalex.org/W3032183698","https://openalex.org/W3040925116","https://openalex.org/W3086036742","https://openalex.org/W3095067310","https://openalex.org/W3123000976","https://openalex.org/W3130596845","https://openalex.org/W3140728551","https://openalex.org/W3157079822","https://openalex.org/W3202585017","https://openalex.org/W4206556022","https://openalex.org/W4220946855","https://openalex.org/W4224223383","https://openalex.org/W4226426484","https://openalex.org/W4229336503","https://openalex.org/W4301885098","https://openalex.org/W4312973784","https://openalex.org/W4361760859","https://openalex.org/W4385343144","https://openalex.org/W4388280387","https://openalex.org/W4391882300","https://openalex.org/W4395456623"],"related_works":["https://openalex.org/W2546947761","https://openalex.org/W2356356101","https://openalex.org/W2131481667","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2016095328","https://openalex.org/W4214925198","https://openalex.org/W1995636945","https://openalex.org/W2404840993","https://openalex.org/W2125082648"],"abstract_inverted_index":{"A":[0],"novel":[1],"adaptive":[2],"non-singular":[3],"fast":[4],"terminal":[5],"sliding":[6],"mode":[7],"control":[8,132],"(NFTSMC)":[9],"scheme":[10],"is":[11,39,69,100],"developed":[12],"for":[13,32],"a":[14,61],"highly":[15],"nonlinear":[16,45,62],"two-link":[17],"robotic":[18],"manipulator":[19],"(TLRM)":[20],"system":[21,24,34],"subject":[22],"to":[23,30,41,49,130],"uncertainties":[25],"and":[26,56,78],"unknown":[27,44],"disturbances.":[28],"First,":[29],"compensate":[31],"the":[33,43,51,86,91,96,103,117,120,123],"uncertainties,":[35],"neural":[36],"network":[37],"(NN)":[38],"employed":[40],"approximate":[42],"dynamic":[46],"function.":[47],"Subsequently,":[48],"address":[50],"challenges":[52],"of":[53,85,93,119],"disturbance":[54,76],"compensation":[55],"unmeasured":[57],"joint":[58,87],"angular":[59,88],"velocity,":[60],"NN-based":[63,72,124],"extended":[64],"state":[65],"observer":[66],"(NN-based":[67],"ESO)":[68],"introduced.":[70],"The":[71],"ESO":[73],"facilitates":[74],"accurate":[75],"estimation":[77,84],"compensation,":[79],"while":[80],"also":[81],"enabling":[82],"simultaneous":[83],"velocity.":[89],"Through":[90],"integration":[92],"these":[94],"techniques,":[95],"closed-loop":[97],"system\u2019s":[98],"stability":[99],"proven":[101],"using":[102],"direct":[104],"Lyapunov":[105],"method,":[106],"demonstrating":[107],"remarkable":[108],"tracking":[109],"performance":[110,128],"within":[111],"finite":[112],"time.":[113],"Simulation":[114],"results":[115],"validate":[116],"effectiveness":[118],"NFTSMC":[121],"with":[122],"ESO,":[125],"showcasing":[126],"superior":[127],"compared":[129],"alternative":[131],"strategies.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-02-17T06:05:46.635709","created_date":"2025-10-10T00:00:00"}