{"id":"https://openalex.org/W4401804463","doi":"https://doi.org/10.3390/robotics13090126","title":"Closed-Form Continuous-Time Neural Networks for Sliding Mode Control with Neural Gravity Compensation","display_name":"Closed-Form Continuous-Time Neural Networks for Sliding Mode Control with Neural Gravity Compensation","publication_year":2024,"publication_date":"2024-08-23","ids":{"openalex":"https://openalex.org/W4401804463","doi":"https://doi.org/10.3390/robotics13090126"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13090126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13090126","pdf_url":"https://www.mdpi.com/2218-6581/13/9/126/pdf?version=1724411538","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/2218-6581/13/9/126/pdf?version=1724411538","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033485764","display_name":"Claudio Urrea","orcid":"https://orcid.org/0000-0001-7197-8928"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":true,"raw_author_name":"Claudio Urrea","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":"https://orcid.org/0000-0001-7197-8928","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018044648","display_name":"Yainet Garcia-Garcia","orcid":"https://orcid.org/0000-0001-7565-4859"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Yainet Garcia-Garcia","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":"https://orcid.org/0000-0001-7565-4859","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057942687","display_name":"John Kern","orcid":"https://orcid.org/0000-0003-1958-7289"},"institutions":[{"id":"https://openalex.org/I10457146","display_name":"Universidad de Santiago de Chile","ror":"https://ror.org/02ma57s91","country_code":"CL","type":"education","lineage":["https://openalex.org/I10457146"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"John Kern","raw_affiliation_strings":["Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile"],"raw_orcid":"https://orcid.org/0000-0003-1958-7289","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Faculty of Engineering, University of Santiago of Chile, Las Sophoras 165, Estaci\u00f3n Central, Santiago 9170020, Chile","institution_ids":["https://openalex.org/I10457146"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033485764"],"corresponding_institution_ids":["https://openalex.org/I10457146"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":5.3686,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95170372,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"13","issue":"9","first_page":"126","last_page":"126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T13885","display_name":"Geophysics and Sensor Technology","score":0.973800003528595,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9693999886512756,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.7217881679534912},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6003389358520508},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5859241485595703},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5114420652389526},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4615606665611267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4589560627937317},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4092625379562378},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3465687334537506},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3135388493537903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2750224471092224},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18409574031829834},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1412247121334076},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.13775524497032166}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7217881679534912},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6003389358520508},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5859241485595703},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5114420652389526},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4615606665611267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4589560627937317},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4092625379562378},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3465687334537506},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3135388493537903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2750224471092224},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18409574031829834},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1412247121334076},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.13775524497032166},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics13090126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13090126","pdf_url":"https://www.mdpi.com/2218-6581/13/9/126/pdf?version=1724411538","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:29cbc9cc5a0842eabc3de2829c669c09","is_oa":false,"landing_page_url":"https://doaj.org/article/29cbc9cc5a0842eabc3de2829c669c09","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 9, p 126 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/13/9/126/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics13090126","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"}],"best_oa_location":{"id":"doi:10.3390/robotics13090126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13090126","pdf_url":"https://www.mdpi.com/2218-6581/13/9/126/pdf?version=1724411538","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320331146","display_name":"Agencia Nacional de Investigaci\u00f3n y Desarrollo","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401804463.pdf","grobid_xml":"https://content.openalex.org/works/W4401804463.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W2561020682","https://openalex.org/W2621200412","https://openalex.org/W2892014419","https://openalex.org/W2963755523","https://openalex.org/W2975949973","https://openalex.org/W3033739625","https://openalex.org/W3045590520","https://openalex.org/W3126595498","https://openalex.org/W4229020524","https://openalex.org/W4309471863","https://openalex.org/W4319082129","https://openalex.org/W4321487824","https://openalex.org/W4322630567","https://openalex.org/W4367181575","https://openalex.org/W4383724507","https://openalex.org/W4386590252","https://openalex.org/W4387230560","https://openalex.org/W4387602989","https://openalex.org/W4388526532","https://openalex.org/W4389049677","https://openalex.org/W4390445463","https://openalex.org/W4391348335","https://openalex.org/W4392242063","https://openalex.org/W4392645210","https://openalex.org/W4392763637","https://openalex.org/W4394627261","https://openalex.org/W4396496080","https://openalex.org/W4396518532","https://openalex.org/W4396909860","https://openalex.org/W4399282695","https://openalex.org/W4399641502","https://openalex.org/W4399669090","https://openalex.org/W6752307458","https://openalex.org/W6866903336"],"related_works":["https://openalex.org/W2379084545","https://openalex.org/W2365687337","https://openalex.org/W2358180351","https://openalex.org/W2392368077","https://openalex.org/W2365082216","https://openalex.org/W2388018705","https://openalex.org/W2362703586","https://openalex.org/W2389641749","https://openalex.org/W2386832005","https://openalex.org/W2356919096"],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"the":[3,35,42,56,67,98,111,116,127,145,159],"design":[4],"of":[5,37,41,58,91,100,110,115,144,176],"a":[6,11,59,77,80,101,168,172],"robust":[7],"controller":[8,118,147,170],"based":[9,24],"on":[10,25],"Sliding":[12,21],"Mode":[13,22],"Control":[14,23],"(SMC)":[15],"structure.":[16],"The":[17,89,113,140],"proposed":[18,117,146],"controller,":[19],"called":[20],"Closed-Form":[26,92],"Continuous-Time":[27,93],"Neural":[28,165],"Networks":[29],"with":[30,171],"Gravity":[31],"Compensation":[32],"(SMC-CfC-G),":[33],"includes":[34,55],"development":[36,57,99],"an":[38],"inverse":[39,103],"model":[40,104],"UR5":[43],"industrial":[44,154],"robot,":[45],"which":[46,65],"is":[47],"widely":[48],"used":[49],"in":[50,137,152],"various":[51],"fields.":[52],"It":[53],"also":[54],"gravity":[60,68,78],"vector":[61,69],"using":[62],"neural":[63,85,95],"networks,":[64],"outperforms":[66],"obtained":[70],"through":[71],"traditional":[72],"robot":[73],"modeling.":[74],"To":[75],"develop":[76],"compensator,":[79],"feedforward":[81],"Multi-Layer":[82],"Perceptron":[83],"(MLP)":[84],"network":[86],"was":[87,105,119,180],"implemented.":[88],"use":[90],"(CfC)":[94],"networks":[96],"for":[97,185],"robot\u2019s":[102],"introduced,":[106],"allowing":[107],"efficient":[108],"modeling":[109],"robot.":[112],"behavior":[114],"verified":[120],"under":[121],"load":[122],"and":[123,135,142,164],"torque":[124],"disturbances":[125,134],"at":[126],"end":[128],"effector,":[129],"demonstrating":[130],"its":[131],"robustness":[132],"against":[133],"variations":[136],"operating":[138],"conditions.":[139],"adaptability":[141],"ability":[143],"to":[148],"maintain":[149],"superior":[150],"performance":[151],"dynamic":[153],"environments":[155],"are":[156],"highlighted,":[157],"outperforming":[158],"classic":[160],"SMC,":[161],"Proportional-Integral-Derivative":[162],"(PID),":[163],"controllers.":[166],"Consequently,":[167],"high-precision":[169],"maximum":[173],"error":[174],"rate":[175],"approximately":[177],"1.57":[178],"mm":[179],"obtained,":[181],"making":[182],"it":[183],"useful":[184],"applications":[186],"requiring":[187],"high":[188],"accuracy.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
