{"id":"https://openalex.org/W4385200809","doi":"https://doi.org/10.1007/s40747-023-01164-7","title":"Adaptive fractional tracking control of robotic manipulator using fixed-time method","display_name":"Adaptive fractional tracking control of robotic manipulator using fixed-time method","publication_year":2023,"publication_date":"2023-07-24","ids":{"openalex":"https://openalex.org/W4385200809","doi":"https://doi.org/10.1007/s40747-023-01164-7"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-023-01164-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01164-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01164-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01164-7.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078275003","display_name":"Saim Ahmed","orcid":"https://orcid.org/0000-0002-2302-705X"},"institutions":[{"id":"https://openalex.org/I142024983","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26","country_code":"SA","type":"education","lineage":["https://openalex.org/I142024983"]}],"countries":["SA"],"is_corresponding":true,"raw_author_name":"Saim Ahmed","raw_affiliation_strings":["Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, 11586, Saudi Arabia","College of Computer and Information Sciences, Prince Sultan University, Riyadh, 11586, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-2302-705X","affiliations":[{"raw_affiliation_string":"Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, 11586, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]},{"raw_affiliation_string":"College of Computer and Information Sciences, Prince Sultan University, Riyadh, 11586, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034196986","display_name":"Ahmad Taher Azar","orcid":"https://orcid.org/0000-0002-7869-6373"},"institutions":[{"id":"https://openalex.org/I142024983","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26","country_code":"SA","type":"education","lineage":["https://openalex.org/I142024983"]},{"id":"https://openalex.org/I207547235","display_name":"Benha University","ror":"https://ror.org/03tn5ee41","country_code":"EG","type":"education","lineage":["https://openalex.org/I207547235"]}],"countries":["EG","SA"],"is_corresponding":false,"raw_author_name":"Ahmad Taher Azar","raw_affiliation_strings":["Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, 11586, Saudi Arabia","College of Computer and Information Sciences, Prince Sultan University, Riyadh, 11586, Saudi Arabia","Faculty of Computers and Artificial Intelligence, Benha University, Benha, 13518, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, 11586, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]},{"raw_affiliation_string":"College of Computer and Information Sciences, Prince Sultan University, Riyadh, 11586, Saudi Arabia","institution_ids":["https://openalex.org/I142024983"]},{"raw_affiliation_string":"Faculty of Computers and Artificial Intelligence, Benha University, Benha, 13518, Egypt","institution_ids":["https://openalex.org/I207547235"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5078275003"],"corresponding_institution_ids":["https://openalex.org/I142024983"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":9.505,"has_fulltext":true,"cited_by_count":53,"citation_normalized_percentile":{"value":0.98645032,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"10","issue":"1","first_page":"369","last_page":"382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","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/T11081","display_name":"Advanced Control Systems Design","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9973000288009644,"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/settling-time","display_name":"Settling time","score":0.8371312618255615},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8167955875396729},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7322282791137695},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5789006352424622},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5500423908233643},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.527540922164917},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4670604169368744},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4492468237876892},{"id":"https://openalex.org/keywords/fractional-calculus","display_name":"Fractional calculus","score":0.44720542430877686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43644753098487854},{"id":"https://openalex.org/keywords/computational-intelligence","display_name":"Computational intelligence","score":0.4343457818031311},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4119584858417511},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41125911474227905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.26336434483528137},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2554726302623749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19813990592956543},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.10251650214195251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0899132788181305},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.0693197250366211}],"concepts":[{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.8371312618255615},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8167955875396729},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7322282791137695},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5789006352424622},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5500423908233643},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.527540922164917},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4670604169368744},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4492468237876892},{"id":"https://openalex.org/C154249771","wikidata":"https://www.wikidata.org/wiki/Q1339058","display_name":"Fractional calculus","level":2,"score":0.44720542430877686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43644753098487854},{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.4343457818031311},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4119584858417511},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41125911474227905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26336434483528137},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2554726302623749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19813990592956543},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.10251650214195251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0899132788181305},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.0693197250366211},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-023-01164-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01164-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01164-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:61018f71ca3b47c1bcaf8978158dd8b3","is_oa":true,"landing_page_url":"https://doaj.org/article/61018f71ca3b47c1bcaf8978158dd8b3","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 10, Iss 1, Pp 369-382 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-023-01164-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01164-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01164-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327702","display_name":"Prince Sultan University","ror":"https://ror.org/053mqrf26"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385200809.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W234738007","https://openalex.org/W1564089118","https://openalex.org/W2018918594","https://openalex.org/W2059370816","https://openalex.org/W2080550505","https://openalex.org/W2128135221","https://openalex.org/W2129275525","https://openalex.org/W2322303669","https://openalex.org/W2602009451","https://openalex.org/W2735338646","https://openalex.org/W2744805186","https://openalex.org/W2795786214","https://openalex.org/W2889482870","https://openalex.org/W2913218449","https://openalex.org/W2915008738","https://openalex.org/W2979788123","https://openalex.org/W3021315177","https://openalex.org/W3025104845","https://openalex.org/W3093801479","https://openalex.org/W3099340829","https://openalex.org/W3158064920","https://openalex.org/W3197376338","https://openalex.org/W4220681123","https://openalex.org/W4220817978","https://openalex.org/W4225401156","https://openalex.org/W4285103717","https://openalex.org/W4297009623","https://openalex.org/W4308984995","https://openalex.org/W4310363201","https://openalex.org/W4310376377"],"related_works":["https://openalex.org/W1030049439","https://openalex.org/W4377820486","https://openalex.org/W2132353065","https://openalex.org/W2082446734","https://openalex.org/W4313560640","https://openalex.org/W2253351617","https://openalex.org/W3034585638","https://openalex.org/W2028427797","https://openalex.org/W4377825843","https://openalex.org/W2110982267"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"proposes":[3],"an":[4],"adaptive":[5,55,102],"fractional-order":[6,29,76,103],"sliding":[7,30,77,104,109],"mode":[8,31,78,105,110],"controller":[9,32,79,106],"to":[10,26,37,43,63],"control":[11,56,94],"and":[12,59,86],"stabilize":[13],"a":[14,28,46],"nonlinear":[15],"uncertain":[16],"disturbed":[17],"robotic":[18,40],"manipulator":[19,41],"in":[20,45],"fixed-time.":[21],"Fractional":[22],"calculus":[23],"is":[24,57,81],"used":[25],"construct":[27],"(FtNTSM)":[33],"that":[34,100],"suppresses":[35],"chattering":[36],"help":[38],"the":[39,65,73,92,101],"converge":[42],"equilibrium":[44],"fixed-settling":[47],"time":[48,71],"based":[49],"on":[50],"fixed-time":[51,75],"stability":[52],"theory.":[53],"Then,":[54],"introduced":[58],"combined":[60],"with":[61],"FtNTSM":[62],"overcome":[64],"unknown":[66],"system":[67],"dynamics.":[68],"The":[69],"convergence":[70],"of":[72,83],"proposed":[74],"(AFtNTSM)":[80],"independent":[82],"beginning":[84],"circumstances":[85],"can":[87],"be":[88],"precisely":[89],"assessed,":[90],"unlike":[91],"finite-time":[93,108],"approach.":[95],"Finally,":[96],"numerical":[97],"simulations":[98],"show":[99],"outperforms":[107],"controller.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
