{"id":"https://openalex.org/W4200103194","doi":"https://doi.org/10.1177/09596518211064757","title":"Adaptive sliding mode observer\u2013based integral sliding mode model-free torque control for elastomer series elastic actuator\u2013based manipulator","display_name":"Adaptive sliding mode observer\u2013based integral sliding mode model-free torque control for elastomer series elastic actuator\u2013based manipulator","publication_year":2021,"publication_date":"2021-12-28","ids":{"openalex":"https://openalex.org/W4200103194","doi":"https://doi.org/10.1177/09596518211064757"},"language":"en","primary_location":{"id":"doi:10.1177/09596518211064757","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518211064757","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5056408533","display_name":"Yangchun Wei","orcid":"https://orcid.org/0000-0003-4333-605X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yangchun Wei","raw_affiliation_strings":["LaFCAS, School of Automation, Nanjing University of Science & Technology, Nanjing, P.R. China"],"affiliations":[{"raw_affiliation_string":"LaFCAS, School of Automation, Nanjing University of Science & Technology, Nanjing, P.R. China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075838309","display_name":"Haoping Wang","orcid":"https://orcid.org/0000-0003-1888-1849"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoping Wang","raw_affiliation_strings":["LaFCAS, School of Automation, Nanjing University of Science & Technology, Nanjing, P.R. China"],"affiliations":[{"raw_affiliation_string":"LaFCAS, School of Automation, Nanjing University of Science & Technology, Nanjing, P.R. China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100752654","display_name":"Yang Tian","orcid":"https://orcid.org/0000-0003-3015-7060"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Tian","raw_affiliation_strings":["LaFCAS, School of Automation, Nanjing University of Science & Technology, Nanjing, P.R. China"],"affiliations":[{"raw_affiliation_string":"LaFCAS, School of Automation, Nanjing University of Science & Technology, Nanjing, P.R. China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056408533"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":null,"apc_paid":null,"fwci":0.8356,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.69933451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"236","issue":"5","first_page":"1010","last_page":"1028"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9617000222206116,"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/T12487","display_name":"Structural Engineering and Vibration Analysis","score":0.9164999723434448,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.89463210105896},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6672035455703735},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5501958131790161},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.5486829280853271},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5290507078170776},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5238185524940491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4847666621208191},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.42202794551849365},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.326971173286438},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3113986551761627},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15092730522155762},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10390588641166687},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10167115926742554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09843370318412781}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.89463210105896},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6672035455703735},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5501958131790161},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5486829280853271},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5290507078170776},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5238185524940491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4847666621208191},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.42202794551849365},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.326971173286438},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3113986551761627},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15092730522155762},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10390588641166687},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10167115926742554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09843370318412781},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09596518211064757","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518211064757","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6499999761581421,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1168337947","display_name":null,"funder_award_id":"2021YFE0102700","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7634373823","display_name":null,"funder_award_id":"62173182, 61773212","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W954003299","https://openalex.org/W1990866293","https://openalex.org/W2019375098","https://openalex.org/W2041737075","https://openalex.org/W2108776232","https://openalex.org/W2168154211","https://openalex.org/W2200321179","https://openalex.org/W2343067029","https://openalex.org/W2344261455","https://openalex.org/W2560234987","https://openalex.org/W2582998992","https://openalex.org/W2733817478","https://openalex.org/W2769693009","https://openalex.org/W2781881353","https://openalex.org/W2782847035","https://openalex.org/W2783054423","https://openalex.org/W2783307626","https://openalex.org/W2793699827","https://openalex.org/W2905084567","https://openalex.org/W2905979573","https://openalex.org/W2915008738","https://openalex.org/W2944284447","https://openalex.org/W2964366628","https://openalex.org/W2964543462","https://openalex.org/W2965744298","https://openalex.org/W2975599100","https://openalex.org/W2995444865","https://openalex.org/W3000899870","https://openalex.org/W3033196003","https://openalex.org/W3092667177","https://openalex.org/W3121949486","https://openalex.org/W3165778136","https://openalex.org/W3215465991","https://openalex.org/W4253510883"],"related_works":["https://openalex.org/W3101820272","https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W1995636945","https://openalex.org/W4214925198","https://openalex.org/W1788310316"],"abstract_inverted_index":{"In":[0,51],"this":[1],"brief,":[2],"an":[3,42,91,111],"adaptive":[4,10,116,156,163],"nonsingular":[5,117,157],"terminal":[6,12,118,158,165],"sliding":[7,13,119,141,159,166],"mode":[8,14,120,160,167],"observer\u2013based":[9],"integral":[11,164],"model-free":[15,89,168,173],"control":[16,23,59,78,169,174],"is":[17,49,79,94,108,122,137,170,199],"proposed":[18,171,197],"for":[19],"the":[20,25,35,55,68,75,86,98,101,105,126,130,134,140,145,153,162,193,196],"trajectory":[21],"tracking":[22,58,135],"of":[24,28,60,70,88,100,133,147,155,180,195],"output":[26,56,76],"torque":[27,57,77],"elastomer":[29,43,61,71],"series":[30,44,62,72],"elastic":[31,45,63,73],"actuator\u2013based":[32,46,64],"manipulator.":[33],"Considering":[34],"tip":[36],"load":[37],"and":[38,103,129,178,183],"its":[39],"external":[40],"disturbance,":[41,128],"manipulator":[47],"model":[48,93,106,190],"established.":[50],"order":[52],"to":[53,96,124,143],"realize":[54],"manipulator,":[65,102],"by":[66,201],"using":[67],"characteristics":[69],"actuator,":[74],"transformed":[80],"into":[81,139],"position":[82],"control.":[83],"Based":[84],"on":[85,152,188],"idea":[87],"control,":[90],"ultra-local":[92],"applied":[95],"approximate":[97],"dynamic":[99],"all":[104],"information":[107],"considered":[109],"as":[110],"unknown":[112],"lumped":[113,127],"disturbance.":[114],"The":[115,176],"observer":[121,182],"designed":[123],"estimate":[125],"absolute":[131],"value":[132],"error":[136],"introduced":[138],"surface":[142],"make":[144],"selection":[146],"parameters":[148],"more":[149],"flexible.":[150],"Then,":[151],"basis":[154],"observer,":[161],"under":[172],"framework.":[175],"design":[177],"analysis":[179],"both":[181],"controller":[184],"do":[185],"not":[186],"rely":[187],"accurate":[189],"information.":[191],"Finally,":[192],"performance":[194],"method":[198],"verified":[200],"simulation":[202],"results.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}