{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:15:00Z","timestamp":1761488100384},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2001,10,30]],"date-time":"2001-10-30T00:00:00Z","timestamp":1004400000000},"content-version":"unspecified","delay-in-days":59,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2001,9]]},"abstract":"<jats:p>In this work another perturbation estimation sliding \nmode based control algorithm is introduced for a class of \nrobotic systems in the presence of structured and unstructured uncertainties \nand external disturbances. The effects of these uncertainties are combined \ninto a single quantity. A full order device with the \nactuator voltages as control inputs is assumed in control design. \nThe decentralized control scheme with only a partial state feedback \nis applied. A modification of the switching functions with perturbation \nestimation is introduced. The salient features of this approach is \nthat the perturbations are effectively treated by a computationally straightforward \nprocedure. The proposed controller is applied to a minimal configuration \ndirect drive robot mechanism.<\/jats:p>","DOI":"10.1017\/s0263574701003629","type":"journal-article","created":{"date-parts":[[2008,8,14]],"date-time":"2008-08-14T06:30:17Z","timestamp":1218695417000},"page":"641-648","source":"Crossref","is-referenced-by-count":9,"title":["Sliding mode control with perturbation estimation: application on DD robot \nmechanism"],"prefix":"10.1017","volume":"19","author":[{"given":"Boris","family":"Curk","sequence":"first","affiliation":[]},{"given":"Karel","family":"Jezernik","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2001,10,30]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574701003629","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,9]],"date-time":"2019-04-09T16:55:23Z","timestamp":1554828923000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574701003629\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2001,9]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2001,9]]}},"alternative-id":["S0263574701003629"],"URL":"https:\/\/doi.org\/10.1017\/s0263574701003629","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2001,9]]}}}