{"id":"https://openalex.org/W4415180273","doi":"https://doi.org/10.23919/ecc65951.2025.11187270","title":"Chattering in Sliding Mode Control of Robotic Manipulators","display_name":"Chattering in Sliding Mode Control of Robotic Manipulators","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4415180273","doi":"https://doi.org/10.23919/ecc65951.2025.11187270"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187270","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","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/A5062703890","display_name":"Ahmed Rehan","orcid":"https://orcid.org/0000-0002-5788-0112"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Ahmed Rehan","raw_affiliation_strings":["Khalifa University,Electrical Engineering Department,Abu Dhabi,UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University,Electrical Engineering Department,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000233046","display_name":"Igor Boiko","orcid":"https://orcid.org/0000-0003-4978-614X"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Igor Boiko","raw_affiliation_strings":["Khalifa University,Electrical Engineering Department,Abu Dhabi,UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University,Electrical Engineering Department,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057275866","display_name":"Yahya Zweiri","orcid":"https://orcid.org/0000-0003-4331-7254"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Yahya Zweiri","raw_affiliation_strings":["Khalifa University,Advanced Research & Innovation Center (ARIC),Department of Aerospace Engineering,Abu Dhabi,UAE"],"affiliations":[{"raw_affiliation_string":"Khalifa University,Advanced Research & Innovation Center (ARIC),Department of Aerospace Engineering,Abu Dhabi,UAE","institution_ids":["https://openalex.org/I176601375"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062703890"],"corresponding_institution_ids":["https://openalex.org/I176601375"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39236818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3256","last_page":"3261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.98580002784729,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.98580002784729,"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":0.9726999998092651,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9689000248908997,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7620000243186951},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6711000204086304},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6179999709129333},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.4494999945163727},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4442000091075897},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.3808000087738037},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3776000142097473},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.3467999994754791},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.34130001068115234}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7620000243186951},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6711000204086304},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6179999709129333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5230000019073486},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4555000066757202},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.4494999945163727},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4442000091075897},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3808000087738037},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.3467999994754791},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34369999170303345},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.34130001068115234},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3271999955177307},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30649998784065247},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.28529998660087585},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.25699999928474426},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187270","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W138103443","https://openalex.org/W2089161570","https://openalex.org/W2484229617","https://openalex.org/W3009198376","https://openalex.org/W3033338794","https://openalex.org/W3091594195","https://openalex.org/W3194800603","https://openalex.org/W4230148240","https://openalex.org/W4246923680","https://openalex.org/W4312184325","https://openalex.org/W4319990465","https://openalex.org/W4364856146","https://openalex.org/W4385720506","https://openalex.org/W4389484503","https://openalex.org/W4398226302"],"related_works":[],"abstract_inverted_index":{"Many":[0],"Sliding":[1],"Mode":[2],"Control":[3],"(SMC)":[4],"algorithms":[5],"are":[6],"developed":[7],"and":[8,69,77,88],"tested":[9],"on":[10,14,84],"robotic":[11,64],"manipulators":[12],"based":[13],"the":[15,61,78,101],"premise":[16],"that":[17,94],"finite-time":[18,105],"convergence":[19,47,106],"can":[20],"be":[21],"achieved":[22],"in":[23,38,107],"practical":[24],"systems.":[25],"However,":[26],"this":[27,53,57],"idealistic":[28],"approach":[29],"only":[30],"works":[31],"theoretically,":[32],"as":[33],"parasitic":[34,98],"dynamics":[35],"(unmodeled":[36],"dynamics)":[37],"real":[39],"systems":[40],"lead":[41],"to":[42,48],"non-vanishing":[43],"oscillations":[44],"instead":[45],"of":[46,63,80,103],"an":[49],"equilibrium":[50],"point.":[51],"In":[52],"work,":[54],"we":[55],"argue":[56],"fundamental":[58],"point":[59],"for":[60],"case":[62],"manipulators.":[65],"Two":[66],"SMC":[67],"techniques\u2014conventional":[68],"Terminal":[70],"SMC\u2014are":[71],"analyzed":[72],"using":[73],"Describing":[74],"Function":[75],"analysis":[76],"Locus":[79],"Perturbed":[81],"Relay":[82],"Systems":[83],"a":[85,89],"SOPDT":[86],"model":[87],"two-link":[90],"manipulator.":[91],"Findings":[92],"confirm":[93],"chattering,":[95],"caused":[96],"by":[97],"dynamics,":[99],"challenges":[100],"feasibility":[102],"SMC\u2019s":[104],"real-world":[108],"applications.":[109]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-15T00:00:00"}