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The controller uses a new nonlinear Proportional-Integral-Derivative (PID) sliding surface. The stability of the controlled robot dynamics is proved. On applying the boundary-layer approach to remove chattering, a nonlinear PID controller exists inside the boundary layer. This PID controller ensures that the error tend to zero asymptotically if there is no disturbances applied to the robot dynamics.<\/jats:p>","DOI":"10.1017\/s0263574712000513","type":"journal-article","created":{"date-parts":[[2012,8,31]],"date-time":"2012-08-31T09:37:12Z","timestamp":1346405832000},"page":"503-510","source":"Crossref","is-referenced-by-count":5,"title":["A new variable structure controller for robot manipulators with a nonlinear PID sliding surface"],"prefix":"10.1017","volume":"31","author":[{"given":"Khaled R.","family":"Atia","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2012,8,31]]},"reference":[{"key":"S0263574712000513_ref8","volume-title":"Proceedings of 16th IFAC World Congress on Automatic Control","author":"Meza","year":"2005"},{"key":"S0263574712000513_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(00)00077-3"},{"key":"S0263574712000513_ref14","first-page":"138","article-title":"Global asymptotic stability of robot manipulators with linear PID and PI2 D control","volume":"3","author":"Loria","year":"2000","journal-title":"SACTA"},{"key":"S0263574712000513_ref21","volume-title":"Control of Robot Manipulators","author":"Lewis","year":"1993"},{"key":"S0263574712000513_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(98)00090-2"},{"key":"S0263574712000513_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(97)00057-5"},{"key":"S0263574712000513_ref5","volume-title":"Proceedings of the 14th IFAC Triennial World Congress on Automatic Control","author":"Li","year":"1999"},{"key":"S0263574712000513_ref15","doi-asserted-by":"crossref","DOI":"10.1093\/oso\/9780198562917.001.0001","volume-title":"Control Theory of Nonlinear Mechanical Systems: A Passivity-Based and Circuit-Theoretic Approach","author":"Arimoto","year":"1996"},{"key":"S0263574712000513_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/S0019-0578(07)60070-6"},{"key":"S0263574712000513_ref1","doi-asserted-by":"publisher","DOI":"10.1080\/00207179308923003"},{"key":"S0263574712000513_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/9.701091"},{"key":"S0263574712000513_ref9","first-page":"843","volume-title":"Proceedings of the 10th IEEE International Conference on Methods and Models in Automation and Robotics","author":"Kasac","year":"2004"},{"key":"S0263574712000513_ref2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178308933088"},{"key":"S0263574712000513_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.1019473"},{"key":"S0263574712000513_ref6","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(199801)8:1<79::AID-RNC313>3.0.CO;2-V"},{"key":"S0263574712000513_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2007.02.003"},{"key":"S0263574712000513_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.08.003"},{"key":"S0263574712000513_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(03)00035-9"},{"key":"S0263574712000513_ref16","volume-title":"Passivity-Based Control of Euler-Lagrange Systems: Mechanical, Electrical and Electromechanical Applications","author":"Ortega","year":"1989"},{"key":"S0263574712000513_ref11","volume-title":"Proceedings of 16th IFAC World Congress on Automatic Control","author":"Kasac","year":"2005"},{"key":"S0263574712000513_ref17","volume-title":"Robot Dynamics and Control","author":"Spong","year":"1998"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574712000513","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,4,28]],"date-time":"2024-04-28T20:55:29Z","timestamp":1714337729000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574712000513\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,8,31]]},"references-count":21,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2013,7]]}},"alternative-id":["S0263574712000513"],"URL":"https:\/\/doi.org\/10.1017\/s0263574712000513","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,8,31]]}}}