{"id":"https://openalex.org/W4226148841","doi":"https://doi.org/10.3390/robotics11020047","title":"A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm","display_name":"A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm","publication_year":2022,"publication_date":"2022-04-05","ids":{"openalex":"https://openalex.org/W4226148841","doi":"https://doi.org/10.3390/robotics11020047"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11020047","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11020047","pdf_url":"https://www.mdpi.com/2218-6581/11/2/47/pdf?version=1649236700","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/2/47/pdf?version=1649236700","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081798586","display_name":"Minh Tuan Hua","orcid":"https://orcid.org/0000-0002-4300-9537"},"institutions":[{"id":"https://openalex.org/I200650556","display_name":"University of Agder","ror":"https://ror.org/03x297z98","country_code":"NO","type":"education","lineage":["https://openalex.org/I200650556"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Hua Minh Tuan","raw_affiliation_strings":["Department of Engineering Sciences, University of Agder (UiA), Jon Lilletuns vei 9, 4879 Grimstad, Norway"],"raw_orcid":"https://orcid.org/0000-0002-4300-9537","affiliations":[{"raw_affiliation_string":"Department of Engineering Sciences, University of Agder (UiA), Jon Lilletuns vei 9, 4879 Grimstad, Norway","institution_ids":["https://openalex.org/I200650556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087578160","display_name":"Filippo Sanfilippo","orcid":"https://orcid.org/0000-0002-1437-8368"},"institutions":[{"id":"https://openalex.org/I200650556","display_name":"University of Agder","ror":"https://ror.org/03x297z98","country_code":"NO","type":"education","lineage":["https://openalex.org/I200650556"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Filippo Sanfilippo","raw_affiliation_strings":["Department of Engineering Sciences, University of Agder (UiA), Jon Lilletuns vei 9, 4879 Grimstad, Norway"],"raw_orcid":"https://orcid.org/0000-0002-1437-8368","affiliations":[{"raw_affiliation_string":"Department of Engineering Sciences, University of Agder (UiA), Jon Lilletuns vei 9, 4879 Grimstad, Norway","institution_ids":["https://openalex.org/I200650556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048274906","display_name":"Nguyen Vinh Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I47265099","display_name":"Ho Chi Minh City University of Technology","ror":"https://ror.org/04qva2324","country_code":"VN","type":"education","lineage":["https://openalex.org/I123565023","https://openalex.org/I47265099"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Nguyen Vinh Hao","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh City 700000, Vietnam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh City 700000, Vietnam","institution_ids":["https://openalex.org/I47265099"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087578160"],"corresponding_institution_ids":["https://openalex.org/I200650556"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.6351,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.8187443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"11","issue":"2","first_page":"47","last_page":"47"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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":0.9983999729156494,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9979000091552734,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9962000250816345,"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":0.7589447498321533},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6618080139160156},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6592627167701721},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.6260938048362732},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6065883636474609},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5988144874572754},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5249136686325073},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4678764045238495},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4473622143268585},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.43151330947875977},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4152876138687134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4027327299118042},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40142929553985596},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32735955715179443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19256263971328735},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17086410522460938},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.07771915197372437},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06526383757591248}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7589447498321533},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6618080139160156},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6592627167701721},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.6260938048362732},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6065883636474609},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5988144874572754},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5249136686325073},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4678764045238495},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4473622143268585},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.43151330947875977},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4152876138687134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4027327299118042},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40142929553985596},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32735955715179443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19256263971328735},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17086410522460938},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.07771915197372437},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06526383757591248},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics11020047","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11020047","pdf_url":"https://www.mdpi.com/2218-6581/11/2/47/pdf?version=1649236700","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:074126eb9f62483fa76b97c01d0effd6","is_oa":true,"landing_page_url":"https://doaj.org/article/074126eb9f62483fa76b97c01d0effd6","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 2, p 47 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/2/47/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11020047","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"},{"id":"pmh:oai:uia.brage.unit.no:11250/3013081","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3013081","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"24","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"doi:10.3390/robotics11020047","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11020047","pdf_url":"https://www.mdpi.com/2218-6581/11/2/47/pdf?version=1649236700","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327751","display_name":"Universitetet i Agder","ror":"https://ror.org/03x297z98"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226148841.pdf","grobid_xml":"https://content.openalex.org/works/W4226148841.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W832757850","https://openalex.org/W1499355868","https://openalex.org/W1535570778","https://openalex.org/W1966601742","https://openalex.org/W1982914507","https://openalex.org/W2006676176","https://openalex.org/W2018851823","https://openalex.org/W2030959268","https://openalex.org/W2039790636","https://openalex.org/W2049192181","https://openalex.org/W2049850553","https://openalex.org/W2152957885","https://openalex.org/W2154892481","https://openalex.org/W2310603974","https://openalex.org/W2411321320","https://openalex.org/W2470317551","https://openalex.org/W2585248669","https://openalex.org/W2593099652","https://openalex.org/W2602945460","https://openalex.org/W2625455053","https://openalex.org/W2646878785","https://openalex.org/W2662222177","https://openalex.org/W2783543553","https://openalex.org/W2884887987","https://openalex.org/W2896790487","https://openalex.org/W2896978180","https://openalex.org/W2912365385","https://openalex.org/W2923058898","https://openalex.org/W2947777432","https://openalex.org/W2968821596","https://openalex.org/W2969320466","https://openalex.org/W2970775634","https://openalex.org/W2991439930","https://openalex.org/W3004697922","https://openalex.org/W3012180352","https://openalex.org/W3021790782","https://openalex.org/W3026235398","https://openalex.org/W3028240410","https://openalex.org/W3042200341","https://openalex.org/W3045478514","https://openalex.org/W3047286993","https://openalex.org/W3100997236","https://openalex.org/W3101339469","https://openalex.org/W3196258525","https://openalex.org/W4226148841","https://openalex.org/W4226173464","https://openalex.org/W4231266544","https://openalex.org/W6604500887","https://openalex.org/W6630031954","https://openalex.org/W6698590983","https://openalex.org/W6755889942","https://openalex.org/W6775560218","https://openalex.org/W6781103459"],"related_works":["https://openalex.org/W1030049439","https://openalex.org/W3113932901","https://openalex.org/W650625605","https://openalex.org/W4377820486","https://openalex.org/W2801025257","https://openalex.org/W2551285827","https://openalex.org/W1919219501","https://openalex.org/W3153880133","https://openalex.org/W4281393514","https://openalex.org/W2110982267"],"abstract_inverted_index":{"Collaborative":[0],"robots":[1,5],"(or":[2],"cobots)":[3],"are":[4,7,30,64,130,165],"that":[6],"capable":[8],"of":[9,35,42,52,78,117,140,148],"safely":[10],"operating":[11],"in":[12,32,70],"a":[13,60,79,90,156,169,174,185],"shared":[14],"environment":[15],"or":[16],"interacting":[17],"with":[18,83,109,158],"humans.":[19],"In":[20,37,73],"recent":[21],"years,":[22],"cobots":[23],"have":[24],"become":[25],"increasingly":[26],"common.":[27],"Compliant":[28],"actuators":[29,85],"critical":[31],"the":[33,50,76,95,114,118,122,134,137,141,146,149,159,171,181],"design":[34],"cobots.":[36],"real":[38],"applications,":[39],"this":[40,74],"type":[41],"actuation":[43],"system":[44],"may":[45],"be":[46],"able":[47],"to":[48,66,107,132,194],"reduce":[49],"amount":[51],"damage":[53],"caused":[54],"by":[55,88],"an":[56,99],"unanticipated":[57],"collision.":[58],"As":[59,168],"result,":[61,170],"elastic":[62,84],"joints":[63,69],"expected":[65],"outperform":[67],"stiff":[68],"complex":[71],"situations.":[72],"work,":[75],"control":[77,97],"2-DOF":[80],"robot":[81,119,142],"arm":[82],"is":[86,105],"addressed":[87],"proposing":[89],"two-loop":[91],"adaptive":[92,100,127],"controller.":[93],"For":[94,121],"outer":[96],"loop,":[98],"sliding":[101,161],"mode":[102,162],"controller":[103,163],"(ASMC)":[104],"adopted":[106],"deal":[108],"uncertainties":[110,135],"and":[111,155,184],"disturbance":[112],"on":[113,136],"load":[115],"side":[116,139],"arm.":[120,143],"inner":[123],"loops,":[124],"model":[125],"reference":[126],"controllers":[128],"(MRAC)":[129],"utilised":[131],"handle":[133],"motor":[138],"To":[144],"show":[145],"effectiveness":[147],"proposed":[150],"controller,":[151,183],"extensive":[152],"simulation":[153],"experiments":[154],"comparison":[157],"conventional":[160],"(SMC)":[164],"carried":[166],"out.":[167],"ASMC":[172],"has":[173],"50.35%":[175],"lower":[176],"average":[177],"RMS":[178],"error":[179],"than":[180],"SMC":[182],"shorter":[186],"settling":[187],"time":[188],"(5%":[189],"criterion)":[190],"(0.44":[191],"s":[192],"compared":[193],"2.11":[195],"s).":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
