{"id":"https://openalex.org/W7154496542","doi":"https://doi.org/10.1177/09596518261420471","title":"Neural network-based fixed-time sliding mode control of pneumatic muscle-actuated robotic finger","display_name":"Neural network-based fixed-time sliding mode control of pneumatic muscle-actuated robotic finger","publication_year":2026,"publication_date":"2026-04-15","ids":{"openalex":"https://openalex.org/W7154496542","doi":"https://doi.org/10.1177/09596518261420471"},"language":"en","primary_location":{"id":"doi:10.1177/09596518261420471","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518261420471","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/A5100418359","display_name":"Zhiwu Chen","orcid":"https://orcid.org/0000-0001-6588-030X"},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwu Chen","raw_affiliation_strings":["College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yilong Shen","orcid":"https://orcid.org/0009-0002-4062-235X"},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yilong Shen","raw_affiliation_strings":["College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China"],"raw_orcid":"https://orcid.org/0009-0002-4062-235X","affiliations":[{"raw_affiliation_string":"College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033974022","display_name":"Ao Huang","orcid":"https://orcid.org/0009-0007-4742-1928"},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Huang","raw_affiliation_strings":["College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China"],"raw_orcid":"https://orcid.org/0009-0007-4742-1928","affiliations":[{"raw_affiliation_string":"College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028643116","display_name":"Pengfei Li","orcid":"https://orcid.org/0009-0008-3888-1014"},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Li","raw_affiliation_strings":["College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China"],"raw_orcid":"https://orcid.org/0009-0008-3888-1014","affiliations":[{"raw_affiliation_string":"College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351264","display_name":"Xingyu Wang","orcid":"https://orcid.org/0000-0002-0897-9933"},"institutions":[{"id":"https://openalex.org/I23171815","display_name":"Zhengzhou University of Light Industry","ror":"https://ror.org/05fwr8z16","country_code":"CN","type":"education","lineage":["https://openalex.org/I23171815"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyu Wang","raw_affiliation_strings":["College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electrical Information Engineering, Zhengzhou University of Light Industry, Zhengzhou, Henan Province, China","institution_ids":["https://openalex.org/I23171815"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012241503","display_name":"Yingbo Lu","orcid":"https://orcid.org/0000-0002-4616-7565"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yingbo Lu","raw_affiliation_strings":["School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, Shaanxi Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012241503"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39686007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"240","issue":"5","first_page":"785","last_page":"804"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9660999774932861,"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":0.9660999774932861,"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/T11608","display_name":"Dielectric materials and actuators","score":0.007400000002235174,"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":0.006000000052154064,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8061000108718872},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5947999954223633},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5795999765396118},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5688999891281128},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5123000144958496},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5112000107765198},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4875999987125397},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.47099998593330383}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8061000108718872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.597100019454956},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5947999954223633},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5795999765396118},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5688999891281128},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5123000144958496},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5112000107765198},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4875999987125397},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.47099998593330383},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.459199994802475},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45179998874664307},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4034999907016754},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3806000053882599},{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.37540000677108765},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.359499990940094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3386000096797943},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.29899999499320984},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.273499995470047},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2581999897956848},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/09596518261420471","is_oa":false,"landing_page_url":"https://doi.org/10.1177/09596518261420471","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":39,"referenced_works":["https://openalex.org/W2000795873","https://openalex.org/W2017011168","https://openalex.org/W2045685779","https://openalex.org/W2091639434","https://openalex.org/W2170447269","https://openalex.org/W2346190255","https://openalex.org/W2464819568","https://openalex.org/W2775854755","https://openalex.org/W2947665220","https://openalex.org/W2963659670","https://openalex.org/W2978805492","https://openalex.org/W2980139847","https://openalex.org/W2980512311","https://openalex.org/W3011576837","https://openalex.org/W3013965421","https://openalex.org/W3037980277","https://openalex.org/W3039965869","https://openalex.org/W3091485967","https://openalex.org/W3094210481","https://openalex.org/W3122200986","https://openalex.org/W3148511788","https://openalex.org/W3182354834","https://openalex.org/W4211069770","https://openalex.org/W4224223383","https://openalex.org/W4282925512","https://openalex.org/W4291392500","https://openalex.org/W4292874615","https://openalex.org/W4316037870","https://openalex.org/W4360615060","https://openalex.org/W4376644174","https://openalex.org/W4383817372","https://openalex.org/W4386702695","https://openalex.org/W4390970302","https://openalex.org/W4399328523","https://openalex.org/W4400679330","https://openalex.org/W4401934840","https://openalex.org/W4406785097","https://openalex.org/W4408150337","https://openalex.org/W4414221790"],"related_works":[],"abstract_inverted_index":{"Pneumatic":[0],"artificial":[1],"muscles":[2],"(PAMs)":[3],"are":[4,24,98],"widely":[5],"used":[6],"in":[7,60,64],"various":[8],"robotic":[9],"and":[10,19,28,58,103,123],"automation":[11],"applications":[12],"due":[13],"to":[14,30,53,66,75,85],"their":[15],"high":[16,56],"power-to-weight":[17],"ratio":[18],"compliance.":[20],"However,":[21],"PAM":[22,61],"systems":[23],"inherently":[25],"highly":[26],"nonlinear":[27],"subject":[29],"uncertainties,":[31,70,78],"which":[32],"pose":[33],"difficulties":[34],"for":[35],"control":[36,88],"design.":[37],"This":[38],"paper":[39],"proposes":[40],"a":[41,71,92,113,128],"radial":[42],"basis":[43],"function":[44],"neural":[45],"network":[46],"(RBFNN)-based":[47],"fixed-time":[48],"sliding":[49,116],"mode":[50],"controller":[51],"(FTSMC)":[52],"address":[54,67],"the":[55,81,87,101,106,133,143,147],"nonlinearity":[57],"uncertainties":[59],"systems.":[62],"Specifically,":[63],"order":[65],"system":[68,125],"lumped":[69],"RBFNN":[72],"is":[73,110,136],"employed":[74],"approximate":[76],"these":[77],"effectively":[79,119],"improving":[80],"controller\u2019s":[82],"robustness.":[83],"Furthermore,":[84],"ensure":[86],"input":[89],"remains":[90],"within":[91,127],"certain":[93],"range,":[94],"unilateral":[95],"constraint":[96],"functions":[97],"utilized,":[99],"ensuring":[100],"safety":[102],"stability":[104,126,131],"of":[105,112,132],"system.":[107],"The":[108,130],"FTSMC":[109],"composed":[111],"specially":[114],"designed":[115],"surface":[117],"that":[118,146],"enhances":[120],"steady-state":[121],"accuracy":[122],"achieves":[124],"fixed-time.":[129],"proposed":[134,148],"method":[135,149],"rigorously":[137],"substantiated":[138],"through":[139],"Lyapunov":[140],"analysis.":[141],"Finally,":[142],"simulations":[144],"demonstrate":[145],"exhibits":[150],"superiority.":[151]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-04-16T00:00:00"}