{"id":"https://openalex.org/W2886944637","doi":"https://doi.org/10.23919/acc.2018.8431190","title":"Modeling of Pneumatic Artificial Muscle with Kinetic Friction and Sliding Mode Control","display_name":"Modeling of Pneumatic Artificial Muscle with Kinetic Friction and Sliding Mode Control","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2886944637","doi":"https://doi.org/10.23919/acc.2018.8431190","mag":"2886944637"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2018.8431190","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2018.8431190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 Annual American Control Conference (ACC)","raw_type":"proceedings-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/A5046754145","display_name":"Jonathon E. Slightam","orcid":"https://orcid.org/0000-0002-4035-6656"},"institutions":[{"id":"https://openalex.org/I102461120","display_name":"Marquette University","ror":"https://ror.org/04gr4te78","country_code":"US","type":"education","lineage":["https://openalex.org/I102461120"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jonathon E. Slightam","raw_affiliation_strings":["Department of Mechanical Engineering, Marquette University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Marquette University","institution_ids":["https://openalex.org/I102461120"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067052751","display_name":"Mark L. Nagurka","orcid":"https://orcid.org/0000-0001-6331-905X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mark L. Nagurka","raw_affiliation_strings":["Department of Mechanical Engineering, Fluid Power and Mechatronics Research Laboratory"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Fluid Power and Mechatronics Research Laboratory","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046754145"],"corresponding_institution_ids":["https://openalex.org/I102461120"],"apc_list":null,"apc_paid":null,"fwci":0.6537,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.67052484,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3342","last_page":"3347"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9968000054359436,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9926999807357788,"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":0.8425770998001099},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6656160354614258},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6216275095939636},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5759998559951782},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5628512501716614},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5351992845535278},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.5034205317497253},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.45021703839302063},{"id":"https://openalex.org/keywords/kinetic-energy","display_name":"Kinetic energy","score":0.4215269684791565},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3395429253578186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3212152123451233},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27571094036102295},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12996286153793335},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.12353342771530151},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.12170583009719849},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09932142496109009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08734020590782166}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8425770998001099},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6656160354614258},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6216275095939636},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5759998559951782},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5628512501716614},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5351992845535278},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.5034205317497253},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.45021703839302063},{"id":"https://openalex.org/C135889238","wikidata":"https://www.wikidata.org/wiki/Q46276","display_name":"Kinetic energy","level":2,"score":0.4215269684791565},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3395429253578186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3212152123451233},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27571094036102295},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12996286153793335},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.12353342771530151},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.12170583009719849},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09932142496109009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08734020590782166},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2018.8431190","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2018.8431190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 Annual American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W31531957","https://openalex.org/W365687943","https://openalex.org/W1487127700","https://openalex.org/W1530941216","https://openalex.org/W1577685152","https://openalex.org/W1625884657","https://openalex.org/W1967679514","https://openalex.org/W1972333968","https://openalex.org/W1979703395","https://openalex.org/W2013624211","https://openalex.org/W2028177773","https://openalex.org/W2039873203","https://openalex.org/W2056118042","https://openalex.org/W2057562264","https://openalex.org/W2092685321","https://openalex.org/W2118202859","https://openalex.org/W2128336314","https://openalex.org/W2152928668","https://openalex.org/W2243842006","https://openalex.org/W2366518824","https://openalex.org/W2460748701","https://openalex.org/W2480484280","https://openalex.org/W2542402688","https://openalex.org/W2588839176","https://openalex.org/W2775439560","https://openalex.org/W6721878887","https://openalex.org/W6746341717"],"related_works":["https://openalex.org/W2646796998","https://openalex.org/W1977524617","https://openalex.org/W2288267393","https://openalex.org/W2532652555","https://openalex.org/W2682476581","https://openalex.org/W2332671511","https://openalex.org/W2317342931","https://openalex.org/W1974744264","https://openalex.org/W1997067995","https://openalex.org/W2585935230"],"abstract_inverted_index":{"A":[0,38,78],"nonlinear":[1],"lumped-parameter":[2],"state-space":[3],"model":[4,73],"of":[5,35,51,56,88,97,112],"a":[6,94,104,125],"pneumatic":[7],"artificial":[8],"muscle":[9],"that":[10,47],"accounts":[11],"for":[12,21],"kinetic":[13],"friction":[14],"is":[15,45],"developed.":[16],"Model":[17],"simulations":[18],"are":[19,75],"reported":[20],"square-wave":[22,106],"command":[23],"signals":[24],"at":[25],"different":[26],"frequencies.":[27],"Comparisons":[28],"to":[29,62,124],"experimental":[30],"results":[31],"demonstrate":[32],"the":[33,36,49,52,57],"fidelity":[34],"model.":[37],"new":[39],"sliding":[40,58,81,117],"mode":[41,82,118],"control":[42,83,119],"tuning":[43],"parameter":[44],"introduced":[46],"increases":[48],"gradient":[50],"error":[53,96],"dynamic":[54],"poles":[55],"surface":[59],"with":[60,93,109],"respect":[61],"lower":[63],"order":[64],"errors.":[65],"With":[66],"this":[67],"method":[68],"input-output":[69],"feedback":[70],"linearization":[71],"and":[72],"observation":[74],"not":[76],"needed.":[77],"third-order":[79],"integral":[80],"law":[84,120],"exhibits":[85],"steady-state":[86],"errors":[87],"\u00b115":[89],"\u03bcm":[90],"or":[91,100],"less":[92,101],"maximum":[95],"0.29":[98],"mm":[99],"when":[102],"tracking":[103],"7th-order":[105],"position":[107],"trajectory":[108],"an":[110],"amplitude":[111],"5.40":[113],"mm.":[114],"This":[115],"simplified":[116],"shows":[121],"advantages":[122],"compared":[123],"conventional":[126],"approach.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
