{"id":"https://openalex.org/W2112293506","doi":"https://doi.org/10.1109/robot.1997.620135","title":"Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm","display_name":"Fuzzy parameter adaptation for a sliding mode controller as applied to the control of an articulated arm","publication_year":2002,"publication_date":"2002-11-22","ids":{"openalex":"https://openalex.org/W2112293506","doi":"https://doi.org/10.1109/robot.1997.620135","mag":"2112293506"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1997.620135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1997.620135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of International Conference on Robotics and Automation","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/A5033078122","display_name":"Kemalettin Erbatur","orcid":"https://orcid.org/0000-0001-6024-5112"},"institutions":[{"id":"https://openalex.org/I4210115083","display_name":"T\u00dcB\u0130TAK Marmara Research Center","ror":"https://ror.org/02g99an58","country_code":"TR","type":"government","lineage":["https://openalex.org/I198068145","https://openalex.org/I4210115083"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"K. Erbatur","raw_affiliation_strings":["Robotics and Automation Group, TUBITAK Marmara Research Center, Gebze, Turkey","Robotics & Autom. Group, Tubitak Marmara Res. Center, Gebze, Turkey"],"affiliations":[{"raw_affiliation_string":"Robotics and Automation Group, TUBITAK Marmara Research Center, Gebze, Turkey","institution_ids":["https://openalex.org/I4210115083"]},{"raw_affiliation_string":"Robotics & Autom. Group, Tubitak Marmara Res. Center, Gebze, Turkey","institution_ids":["https://openalex.org/I4210115083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066257732","display_name":"Okyay Kaynak","orcid":"https://orcid.org/0000-0002-4789-6700"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]},{"id":"https://openalex.org/I198068145","display_name":"Scientific and Technological Research Council of Turkey","ror":"https://ror.org/04w9kkr77","country_code":"TR","type":"government","lineage":["https://openalex.org/I198068145"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"O. Kaynak","raw_affiliation_strings":["Mechatronics Research and Application Center and UNESCO Chair on Mechatronics, Bo\u011fazi\u00e7i University, Bebek, Istanbul, Turkey","Tubitak"],"affiliations":[{"raw_affiliation_string":"Mechatronics Research and Application Center and UNESCO Chair on Mechatronics, Bo\u011fazi\u00e7i University, Bebek, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]},{"raw_affiliation_string":"Tubitak","institution_ids":["https://openalex.org/I198068145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065559600","display_name":"Asif \u015eabanovi\u00e7","orcid":"https://orcid.org/0000-0002-2783-9354"},"institutions":[{"id":"https://openalex.org/I198068145","display_name":"Scientific and Technological Research Council of Turkey","ror":"https://ror.org/04w9kkr77","country_code":"TR","type":"government","lineage":["https://openalex.org/I198068145"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"A. Sabanovic","raw_affiliation_strings":["B. H. Engineering and Consulting Company Limited, Ulus, Istanbul, Turkey","Tubitak"],"affiliations":[{"raw_affiliation_string":"B. H. Engineering and Consulting Company Limited, Ulus, Istanbul, Turkey","institution_ids":[]},{"raw_affiliation_string":"Tubitak","institution_ids":["https://openalex.org/I198068145"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010869153","display_name":"Imre J. Rudas","orcid":"https://orcid.org/0000-0002-2067-8578"},"institutions":[{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]},{"id":"https://openalex.org/I162147314","display_name":"Hungarian National Bank","ror":"https://ror.org/02awmn551","country_code":"HU","type":"other","lineage":["https://openalex.org/I162147314"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"I. Rudas","raw_affiliation_strings":["Department of Information Technology, Banki Donat Polytechnic, Budapest, Hungary","\u00d3buda University;"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, Banki Donat Polytechnic, Budapest, Hungary","institution_ids":["https://openalex.org/I162147314"]},{"raw_affiliation_string":"\u00d3buda University;","institution_ids":["https://openalex.org/I103356709"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033078122"],"corresponding_institution_ids":["https://openalex.org/I4210115083"],"apc_list":null,"apc_paid":null,"fwci":1.264,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80795009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"817","last_page":"822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9973999857902527,"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":0.8664917945861816},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7139961123466492},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.702847421169281},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6431822180747986},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6388603448867798},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.559514045715332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5564727783203125},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5412575006484985},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.533038318157196},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5260142087936401},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.510608971118927},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.49033236503601074},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4650002717971802},{"id":"https://openalex.org/keywords/fuzzy-set","display_name":"Fuzzy set","score":0.4366455078125},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41111665964126587},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3452874422073364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25145256519317627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2452092468738556},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24390634894371033},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07276356220245361},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06304359436035156}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8664917945861816},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7139961123466492},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.702847421169281},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6431822180747986},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6388603448867798},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.559514045715332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5564727783203125},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5412575006484985},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.533038318157196},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5260142087936401},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.510608971118927},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.49033236503601074},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4650002717971802},{"id":"https://openalex.org/C42011625","wikidata":"https://www.wikidata.org/wiki/Q1055058","display_name":"Fuzzy set","level":3,"score":0.4366455078125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41111665964126587},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3452874422073364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25145256519317627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2452092468738556},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24390634894371033},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07276356220245361},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06304359436035156},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1997.620135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1997.620135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of International Conference on Robotics and Automation","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":16,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1547986890","https://openalex.org/W1967071303","https://openalex.org/W1971423053","https://openalex.org/W1980888194","https://openalex.org/W1990042683","https://openalex.org/W2011412866","https://openalex.org/W2012912409","https://openalex.org/W2038073681","https://openalex.org/W2062706881","https://openalex.org/W2092992797","https://openalex.org/W2101474339","https://openalex.org/W2157918371","https://openalex.org/W2160223899","https://openalex.org/W3177730557","https://openalex.org/W6638662523"],"related_works":["https://openalex.org/W2997567050","https://openalex.org/W1533421371","https://openalex.org/W4385452609","https://openalex.org/W1483272040","https://openalex.org/W4283377908","https://openalex.org/W1992538606","https://openalex.org/W2003050223","https://openalex.org/W2091777911","https://openalex.org/W2766405861","https://openalex.org/W1548742399"],"abstract_inverted_index":{"A":[0,56],"number":[1],"of":[2,19,66,69],"approaches":[3],"based":[4,79],"on":[5],"sliding":[6],"mode":[7],"control":[8,18],"methodology":[9],"are":[10,53],"proposed":[11],"in":[12,25,35],"the":[13,16,36,50,63,67,76],"literature":[14],"for":[15,62],"position":[17],"robotic":[20],"manipulators.":[21],"An":[22],"important":[23],"problem":[24],"this":[26,39,70],"context":[27],"is":[28,31,44,60],"chattering,":[29],"that":[30,75],"high":[32],"frequency":[33],"oscillations":[34],"velocity.":[37],"In":[38],"paper,":[40],"a":[41],"novel":[42],"approach":[43],"considered":[45],"which":[46],"eliminates":[47],"chattering":[48],"if":[49],"controller":[51,84],"parameters":[52,68],"set":[54],"suitably.":[55],"fuzzy":[57,77],"adaptation":[58,65,80],"scheme":[59,81],"devised":[61],"online":[64],"method.":[71],"Simulation":[72],"results":[73],"show":[74],"rule":[78],"ensures":[82],"good":[83],"performance":[85],"without":[86],"chattering.":[87]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
