{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T17:18:55Z","timestamp":1740158335715,"version":"3.37.3"},"reference-count":16,"publisher":"Wiley","license":[{"start":{"date-parts":[[2019,4,17]],"date-time":"2019-04-17T00:00:00Z","timestamp":1555459200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Sciences and Techniques of Automatic Control and Computer Engineering Laboratory"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Electrical and Computer Engineering"],"published-print":{"date-parts":[[2019,4,17]]},"abstract":"<jats:p>In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode. Both methods have comparable simulation results which show a good quality of robustness. However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties.<\/jats:p>","DOI":"10.1155\/2019\/3919864","type":"journal-article","created":{"date-parts":[[2019,4,17]],"date-time":"2019-04-17T19:56:44Z","timestamp":1555531004000},"page":"1-11","source":"Crossref","is-referenced-by-count":4,"title":["Robust Control for a Two DOF Robot Manipulator"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9551-2740","authenticated-orcid":true,"given":"Fatma","family":"Massaoudi","sequence":"first","affiliation":[{"name":"University of Sfax, Ecole Nationale d\u2019Ing\u00e9nieurs de Sfax, Laboratoire des Sciences et Techniques de L\u2019automatique et de L\u2019informatique Industrielle, LR11ES50, 3038 Sfax, Tunisia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dorsaf","family":"Elleuch","sequence":"additional","affiliation":[{"name":"University of Sfax, Ecole Nationale d\u2019Ing\u00e9nieurs de Sfax, Laboratoire des Sciences et Techniques de L\u2019automatique et de L\u2019informatique Industrielle, LR11ES50, 3038 Sfax, Tunisia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tarak","family":"Damak","sequence":"additional","affiliation":[{"name":"University of Sfax, Ecole Nationale d\u2019Ing\u00e9nieurs de Sfax, Laboratoire des Sciences et Techniques de L\u2019automatique et de L\u2019informatique Industrielle, LR11ES50, 3038 Sfax, Tunisia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/tac.2003.819074"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.25103\/jestr.082.27"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.08.003"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2008.09.004"},{"issue":"12","key":"6","first-page":"1855","volume":"18","year":"2012","journal-title":"World Applied Sciences Journal"},{"key":"7","first-page":"327","volume-title":"Higher order sliding mode control of uncertain robot manipulators","volume":"576","year":"2015"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2010.501386"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20060434"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1080\/00207178408933284"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1235"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-004-0051-4"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1111\/j.1934-6093.2004.tb00365.x"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1016\/s1000-9361(08)60034-5"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/tsmca.2004.824870"},{"issue":"3","key":"18","first-page":"27","volume":"38","year":"2014","journal-title":"Transactions of Famena"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.3311\/pp.ee.2009-3-4.07"}],"container-title":["Journal of Electrical and Computer Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jece\/2019\/3919864.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jece\/2019\/3919864.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jece\/2019\/3919864.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,17]],"date-time":"2019-04-17T19:56:47Z","timestamp":1555531007000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jece\/2019\/3919864\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,4,17]]},"references-count":16,"alternative-id":["3919864","3919864"],"URL":"https:\/\/doi.org\/10.1155\/2019\/3919864","relation":{},"ISSN":["2090-0147","2090-0155"],"issn-type":[{"type":"print","value":"2090-0147"},{"type":"electronic","value":"2090-0155"}],"subject":[],"published":{"date-parts":[[2019,4,17]]}}}