{"id":"https://openalex.org/W3177977523","doi":"https://doi.org/10.3390/s21144653","title":"Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller","display_name":"Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3177977523","doi":"https://doi.org/10.3390/s21144653","mag":"3177977523","pmid":"https://pubmed.ncbi.nlm.nih.gov/34300391"},"language":"en","primary_location":{"id":"doi:10.3390/s21144653","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21144653","pdf_url":"https://www.mdpi.com/1424-8220/21/14/4653/pdf?version=1625649516","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/14/4653/pdf?version=1625649516","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101730837","display_name":"Xuefei Liu","orcid":"https://orcid.org/0000-0003-0437-9380"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefei Liu","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102020756","display_name":"Xiangrong Xu","orcid":"https://orcid.org/0000-0001-6055-6797"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangrong Xu","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033620147","display_name":"Zuojun Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuojun Zhu","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054686684","display_name":"Yanglin Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanglin Jiang","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma\u2019anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]},{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology, Ma'anshan 243032, China","institution_ids":["https://openalex.org/I92178344"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5102020756"],"corresponding_institution_ids":["https://openalex.org/I92178344"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.518,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.81223315,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"21","issue":"14","first_page":"4653","last_page":"4653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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":0.9962000250816345,"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":0.8436872959136963},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7240279912948608},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6756488084793091},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5246686935424805},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48486289381980896},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4835052788257599},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4747605621814728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47425830364227295},{"id":"https://openalex.org/keywords/hyperbolic-function","display_name":"Hyperbolic function","score":0.4636154770851135},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.43424785137176514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42351531982421875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40208208560943604},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3617006838321686},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1830049753189087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14992684125900269},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1484328806400299},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1204538345336914}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8436872959136963},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7240279912948608},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6756488084793091},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5246686935424805},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48486289381980896},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4835052788257599},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4747605621814728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47425830364227295},{"id":"https://openalex.org/C92047909","wikidata":"https://www.wikidata.org/wiki/Q204034","display_name":"Hyperbolic function","level":2,"score":0.4636154770851135},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.43424785137176514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42351531982421875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40208208560943604},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3617006838321686},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1830049753189087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14992684125900269},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1484328806400299},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1204538345336914},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s21144653","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21144653","pdf_url":"https://www.mdpi.com/1424-8220/21/14/4653/pdf?version=1625649516","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:34300391","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34300391","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:1fac35d033794ef085cd521038915f01","is_oa":true,"landing_page_url":"https://doaj.org/article/1fac35d033794ef085cd521038915f01","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 14, p 4653 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/14/4653/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21144653","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":"Sensors; Volume 21; Issue 14; Pages: 4653","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8309624","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8309624","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21144653","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21144653","pdf_url":"https://www.mdpi.com/1424-8220/21/14/4653/pdf?version=1625649516","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3026609474","display_name":null,"funder_award_id":"2017YFE0113200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3177977523.pdf","grobid_xml":"https://content.openalex.org/works/W3177977523.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W234738007","https://openalex.org/W244326475","https://openalex.org/W1499277207","https://openalex.org/W1500476116","https://openalex.org/W1600353077","https://openalex.org/W2022939375","https://openalex.org/W2036299665","https://openalex.org/W2044483173","https://openalex.org/W2055127591","https://openalex.org/W2064600809","https://openalex.org/W2081546500","https://openalex.org/W2087294354","https://openalex.org/W2088397729","https://openalex.org/W2106296284","https://openalex.org/W2136447622","https://openalex.org/W2141836307","https://openalex.org/W2162703587","https://openalex.org/W2162930614","https://openalex.org/W2164450398","https://openalex.org/W2173922638","https://openalex.org/W2330589301","https://openalex.org/W2475498549","https://openalex.org/W2503435921","https://openalex.org/W2562662934","https://openalex.org/W2598388290","https://openalex.org/W2608224837","https://openalex.org/W2760798180","https://openalex.org/W2783009944","https://openalex.org/W2784631007","https://openalex.org/W2789837488","https://openalex.org/W2890971859","https://openalex.org/W2904269551","https://openalex.org/W2917597174","https://openalex.org/W2951294143","https://openalex.org/W2964339170","https://openalex.org/W3020096382","https://openalex.org/W3031520393","https://openalex.org/W3034145671","https://openalex.org/W3093995467","https://openalex.org/W3101417067","https://openalex.org/W3109827567","https://openalex.org/W3118688377","https://openalex.org/W4232027764","https://openalex.org/W6672437984","https://openalex.org/W6786716579"],"related_works":["https://openalex.org/W4378879993","https://openalex.org/W4318472270","https://openalex.org/W4377141943","https://openalex.org/W1946342668","https://openalex.org/W4405433733","https://openalex.org/W3012219884","https://openalex.org/W2133279634","https://openalex.org/W1598394172","https://openalex.org/W3216434047","https://openalex.org/W2355548375"],"abstract_inverted_index":{"To":[0],"meet":[1],"the":[2,23,33,38,42,47,55,61,63,69,74,80,85,92,104,111,116,120,123,133,141,148,161,170],"high-accuracy":[3],"position/force":[4],"control":[5,16,57,94,143,174],"requirements":[6],"of":[7,37,68,103,119],"dual-arm":[8,19,39,97,127],"robots":[9,20,40,128],"for":[10,18,60,96,126],"handling":[11],"a":[12,15,154],"target":[13,124],"object,":[14,62],"algorithm":[17],"based":[21,78],"on":[22,79],"modified":[24],"sliding":[25,75,172],"mode":[26,76,173],"impedance":[27,56],"controller":[28,77,106],"MSMIC(tanh)":[29],"is":[30,50,88],"proposed.":[31],"First,":[32],"combinative":[34],"kinematics":[35],"equation":[36],"and":[41,73,101,152,164],"unified":[43],"dynamics":[44],"model":[45,59],"combining":[46],"manipulated":[48],"object":[49,125],"established.":[51],"Second,":[52],"according":[53,109],"to":[54,90,110],"motion":[58],"desired":[64],"joint":[65,165],"angular":[66],"accelerations":[67],"manipulators":[70],"are":[71,107,129],"obtained,":[72],"hyperbolic":[81],"tangent":[82],"function":[83,87,113],"as":[84],"switch":[86],"introduced":[89],"design":[91],"coordinated":[93,121],"strategy":[95],"robots.":[98],"The":[99],"stability":[100],"convergence":[102],"designed":[105],"proved":[108],"Lyapunov":[112],"theory.":[114],"Finally,":[115],"operation":[117],"tasks":[118],"transport":[122],"carried":[130],"out":[131],"in":[132,169],"simulated":[134],"experiment":[135],"environment.":[136],"Simulation":[137],"results":[138],"show":[139],"that":[140],"proposed":[142],"scheme":[144],"can":[145],"stably":[146],"output":[147],"required":[149],"internal":[150],"force":[151],"achieve":[153],"high-precision":[155],"trajectory":[156],"tracking":[157],"effect":[158],"while":[159],"reducing":[160],"periodic":[162],"torque":[163],"chattering":[166],"amplitude":[167],"generated":[168],"conventional":[171],"algorithm.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}