{"id":"https://openalex.org/W4316037161","doi":"https://doi.org/10.1177/09596518221144796","title":"A novel trajectory tracking control approach for uncertain 6-DOF manipulators based on fuzzy sliding mode of radial basis function neural network","display_name":"A novel trajectory tracking control approach for uncertain 6-DOF manipulators based on fuzzy sliding mode of radial basis function neural network","publication_year":2023,"publication_date":"2023-01-13","ids":{"openalex":"https://openalex.org/W4316037161","doi":"https://doi.org/10.1177/09596518221144796"},"language":"en","primary_location":{"id":"doi:10.1177/09596518221144796","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518221144796","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/A5079200870","display_name":"Youyu Liu","orcid":"https://orcid.org/0000-0002-9836-0869"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youyu Liu","raw_affiliation_strings":["Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China"],"raw_orcid":"https://orcid.org/0000-0002-9836-0869","affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China","institution_ids":["https://openalex.org/I70908550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112890572","display_name":"Bo Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Chen","raw_affiliation_strings":["Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China"],"raw_orcid":"https://orcid.org/0000-0003-2669-0313","affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China","institution_ids":["https://openalex.org/I70908550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072936282","display_name":"Liteng Ma","orcid":"https://orcid.org/0000-0003-2669-0313"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liteng Ma","raw_affiliation_strings":["Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China","institution_ids":["https://openalex.org/I70908550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068766273","display_name":"Siyang Yang","orcid":"https://orcid.org/0000-0003-4417-9260"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyang Yang","raw_affiliation_strings":["Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China"],"raw_orcid":"https://orcid.org/0000-0003-4417-9260","affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China","institution_ids":["https://openalex.org/I70908550"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088220799","display_name":"Renjun Li","orcid":null},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I70908550","display_name":"Anhui Polytechnic University","ror":"https://ror.org/041sj0284","country_code":"CN","type":"education","lineage":["https://openalex.org/I70908550"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renjun Li","raw_affiliation_strings":["Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Wuhu, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui Polytechnic University, Wuhu, China","institution_ids":["https://openalex.org/I70908550"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034622807","display_name":"Yongcun Guo","orcid":"https://orcid.org/0000-0001-5199-4146"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongcun Guo","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, China","institution_ids":["https://openalex.org/I184681353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112890572"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I70908550"],"apc_list":null,"apc_paid":null,"fwci":0.9814,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.74071361,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"237","issue":"6","first_page":"1032","last_page":"1044"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9879000186920166,"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":0.9879000186920166,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9866999983787537,"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/T13644","display_name":"Control Systems in Engineering","score":0.9858999848365784,"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":0.8630633354187012},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6403685808181763},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6017677187919617},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.577650785446167},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5396613478660583},{"id":"https://openalex.org/keywords/radial-basis-function","display_name":"Radial basis function","score":0.5323078632354736},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5189213752746582},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5066133737564087},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.49709442257881165},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4784941077232361},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.46840497851371765},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4551633596420288},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4387654662132263},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42695099115371704},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35203099250793457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19572526216506958},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17917948961257935},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12683624029159546}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8630633354187012},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6403685808181763},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6017677187919617},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.577650785446167},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5396613478660583},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.5323078632354736},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5189213752746582},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5066133737564087},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.49709442257881165},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4784941077232361},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.46840497851371765},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4551633596420288},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4387654662132263},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42695099115371704},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35203099250793457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19572526216506958},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17917948961257935},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12683624029159546},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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:10.1177/09596518221144796","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518221144796","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1983329379","https://openalex.org/W2017801673","https://openalex.org/W2054307697","https://openalex.org/W2471525382","https://openalex.org/W2523310238","https://openalex.org/W2598092988","https://openalex.org/W2607322329","https://openalex.org/W2768180674","https://openalex.org/W2779433322","https://openalex.org/W2800403888","https://openalex.org/W2806767873","https://openalex.org/W2888849543","https://openalex.org/W2911270075","https://openalex.org/W2922808564","https://openalex.org/W2941657358","https://openalex.org/W3039782996","https://openalex.org/W3040377161","https://openalex.org/W3080206723","https://openalex.org/W3101341101","https://openalex.org/W3109224535","https://openalex.org/W3124575662","https://openalex.org/W3137382667","https://openalex.org/W3152715626"],"related_works":["https://openalex.org/W2117379282","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W1973429430","https://openalex.org/W1989996768","https://openalex.org/W2354493725","https://openalex.org/W3006614820","https://openalex.org/W2117933783","https://openalex.org/W2560479139","https://openalex.org/W4282930489"],"abstract_inverted_index":{"Due":[0],"to":[1,53,84,102,110,192],"the":[2,11,29,55,62,76,86,91,95,104,112,115,126,149,154,161,169,178],"influence":[3],"of":[4,14,59,64,78,94,114,125],"uncertain":[5,87],"external":[6,88],"disturbance":[7],"and":[8,24,40,61,109,121,168],"model":[9,58],"error,":[10],"trajectory":[12,140],"tracking":[13,141],"manipulators":[15],"has":[16,189],"some":[17],"problems":[18,30],"such":[19],"as":[20],"inaccuracy,":[21],"low":[22],"speed":[23],"severe":[25],"chattering.":[26,185],"To":[27],"solve":[28,111],"mentioned,":[31],"a":[32],"sliding":[33,79,116],"mode":[34,80,117],"control":[35],"method":[36,151,188],"combined":[37],"fuzzy":[38,98],"controller":[39,99],"Radial":[41],"Basis":[42],"Function":[43],"Neural":[44],"Network":[45],"(RBFNN)":[46],"was":[47,51,100],"proposed.":[48],"The":[49,72,119,186],"RBFNN":[50],"used":[52,101],"approximate":[54],"equivalent":[56],"system":[57,128],"manipulators,":[60],"weights":[63],"their":[65],"hidden":[66],"layers":[67],"were":[68,142],"updated":[69],"adaptively":[70,108],"online.":[71],"robust":[73],"item":[74],"with":[75,177],"form":[77],"had":[81,129],"been":[82,130,190],"set":[83],"compensate":[85],"disturbances":[89],"or":[90],"approximation":[92],"errors":[93],"RBFNN.":[96],"A":[97],"adjust":[103],"switching":[105],"gain":[106],"online":[107],"chattering":[113],"control.":[118],"stability":[120],"finite":[122],"time":[123],"convergence":[124],"closed-loop":[127],"analyzed":[131],"by":[132,144,157,164,172],"using":[133],"Lyapunov":[134],"method.":[135,180],"Finally,":[136],"simulation":[137],"experiments":[138],"about":[139],"implemented":[143],"MATLAB/SIMULINK,":[145],"which":[146],"shows":[147],"that":[148],"proposed":[150,187],"can":[152],"improve":[153],"position-tracking":[155],"accuracy":[156,163,171],"more":[158,165,173],"than":[159,166,174],"40%,":[160],"speed-tracking":[162],"70%,":[167],"cumulative-error":[170],"40%":[175],"compared":[176],"comparison":[179],"Moreover,":[181],"there":[182],"is":[183],"no":[184],"proved":[191],"be":[193],"efficient.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
