{"id":"https://openalex.org/W3185424517","doi":"https://doi.org/10.23919/acc50511.2021.9482949","title":"Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators","display_name":"Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3185424517","doi":"https://doi.org/10.23919/acc50511.2021.9482949","mag":"3185424517"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9482949","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5055716781","display_name":"Zhian Kuang","orcid":"https://orcid.org/0000-0002-2072-9638"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhian Kuang","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087667477","display_name":"Liting Sun","orcid":"https://orcid.org/0000-0002-1248-2137"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liting Sun","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047827691","display_name":"Xiang Zhang","orcid":"https://orcid.org/0000-0001-7900-5127"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiang Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036684787","display_name":"Huijun Gao","orcid":"https://orcid.org/0000-0001-5554-5452"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijun Gao","raw_affiliation_strings":["Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, P.R. China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5554,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.6573994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1742","last_page":"1747"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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":0.9053530693054199},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6573824882507324},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.614421546459198},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5691984295845032},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5678383111953735},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5345299243927002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48533859848976135},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4662171006202698},{"id":"https://openalex.org/keywords/variable-structure-control","display_name":"Variable structure control","score":0.437751442193985},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.42035534977912903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37989991903305054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3496060371398926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1557089388370514},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1500459611415863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07802832126617432}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.9053530693054199},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6573824882507324},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.614421546459198},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5691984295845032},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5678383111953735},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5345299243927002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48533859848976135},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4662171006202698},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.437751442193985},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.42035534977912903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37989991903305054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3496060371398926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1557089388370514},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1500459611415863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07802832126617432},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9482949","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9482949","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1988367613","https://openalex.org/W2048111011","https://openalex.org/W2055315624","https://openalex.org/W2085192724","https://openalex.org/W2109976067","https://openalex.org/W2113455235","https://openalex.org/W2127516259","https://openalex.org/W2343067029","https://openalex.org/W2395392600","https://openalex.org/W2521187046","https://openalex.org/W2544326417","https://openalex.org/W2563057509","https://openalex.org/W2608224837","https://openalex.org/W2791119367","https://openalex.org/W2887988793","https://openalex.org/W2898367281","https://openalex.org/W2910089361","https://openalex.org/W2915008738","https://openalex.org/W2943412383","https://openalex.org/W2968126694","https://openalex.org/W2971508029","https://openalex.org/W3040400506","https://openalex.org/W3082970028","https://openalex.org/W3088059646","https://openalex.org/W3131832144"],"related_works":["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/W2356356101","https://openalex.org/W2605005657","https://openalex.org/W2357466732","https://openalex.org/W2172011062"],"abstract_inverted_index":{"The":[0,50,99],"precise":[1,175],"motion":[2],"control":[3,108,172],"of":[4,7,53,63,87,96,101,140,155],"a":[5,31,114,118,128,178],"multi-degree":[6],"freedom":[8],"(DOF)":[9],"robot":[10,179],"manipulator":[11,55,89,180],"is":[12,45,90,125,143],"always":[13],"challenging":[14],"due":[15],"to":[16,151],"its":[17],"nonlinear":[18],"dynamics,":[19],"disturbances,":[20],"and":[21,66,75,84,106,133,165],"uncertainties.":[22],"Because":[23],"most":[24],"manipulators":[25],"are":[26,77],"controlled":[27],"by":[28,79,92],"digital":[29],"signals,":[30],"novel":[32],"higher-order":[33,107],"sliding":[34,103,130],"mode":[35,104,131],"controller":[36,112,124,142],"in":[37,47,57,69,110,159,177],"the":[38,54,58,70,80,85,88,93,97,111,123,138,141,149,153,156,163,170],"discrete-time":[39],"form":[40],"with":[41,117,127],"time":[42,81],"delay":[43,82],"estimation":[44,83],"proposed":[46,171],"this":[48,160],"paper.":[49,161],"dynamic":[51],"model":[52],"used":[56],"design":[59],"allows":[60],"proper":[61],"handling":[62],"nonlinearities,":[64],"uncertainties":[65,74],"disturbances":[67,76],"involved":[68],"problem.":[71],"Specifically,":[72],"parametric":[73],"handled":[78],"nonlinearity":[86],"addressed":[91],"feedback":[94],"structure":[95],"controller.":[98],"combination":[100],"terminal":[102],"surface":[105,132],"scheme":[109,173],"guarantees":[113],"fast":[115],"response":[116],"small":[119],"chattering":[120],"amplitude.":[121],"Moreover,":[122],"designed":[126],"modified":[129],"variable-gain":[134],"structure,":[135],"so":[136],"that":[137,169],"performance":[139,176],"further":[144],"enhanced.":[145],"We":[146],"also":[147],"analyse":[148],"condition":[150],"guarantee":[152],"stability":[154],"closed-loop":[157],"system":[158],"Finally,":[162],"simulation":[164],"experimental":[166],"results":[167],"prove":[168],"has":[174],"system.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}