{"id":"https://openalex.org/W7161438604","doi":"https://doi.org/10.1016/j.robot.2026.105536","title":"Synergetic control with model-based manifold function for n-DOF robot manipulators","display_name":"Synergetic control with model-based manifold function for n-DOF robot manipulators","publication_year":2026,"publication_date":"2026-05-16","ids":{"openalex":"https://openalex.org/W7161438604","doi":"https://doi.org/10.1016/j.robot.2026.105536"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2026.105536","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105536","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-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/A5090326293","display_name":"M. Nasir","orcid":null},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"M. Nasir","raw_affiliation_strings":["Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-8032-1896","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I29891158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136276636","display_name":"R. Fareh","orcid":"https://orcid.org/0000-0002-6289-3049"},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"R. Fareh","raw_affiliation_strings":["Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-6289-3049","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I29891158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007675470","display_name":"S. Sinan","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Sinan","raw_affiliation_strings":["Department of Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure (\u00c9TS), Montr\u00e9al, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, \u00c9cole de technologie sup\u00e9rieure (\u00c9TS), Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024994531","display_name":"S. Khadraoui","orcid":null},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"S. Khadraoui","raw_affiliation_strings":["Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I29891158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136293837","display_name":"J. Ghommam","orcid":null},"institutions":[{"id":"https://openalex.org/I47818738","display_name":"Sultan Qaboos University","ror":"https://ror.org/04wq8zb47","country_code":"OM","type":"education","lineage":["https://openalex.org/I47818738"]}],"countries":["OM"],"is_corresponding":false,"raw_author_name":"J. Ghommam","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat, Oman"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat, Oman","institution_ids":["https://openalex.org/I47818738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047950695","display_name":"M. Bettayeb","orcid":null},"institutions":[{"id":"https://openalex.org/I29891158","display_name":"University of Sharjah","ror":"https://ror.org/00engpz63","country_code":"AE","type":"education","lineage":["https://openalex.org/I29891158"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"M. Bettayeb","raw_affiliation_strings":["Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I29891158"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5090326293"],"corresponding_institution_ids":["https://openalex.org/I29891158"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71089912,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"203","issue":null,"first_page":"105536","last_page":"105536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.3359000086784363,"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":0.3359000086784363,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.33320000767707825,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.04529999941587448,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.784500002861023},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6518999934196472},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5691999793052673},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5623999834060669},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5254999995231628},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4666000008583069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4318999946117401},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.40459999442100525},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.39750000834465027}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.784500002861023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7488999962806702},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6518999934196472},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5691999793052673},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5623999834060669},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5254999995231628},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4902999997138977},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4666000008583069},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.40459999442100525},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.39750000834465027},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.36559998989105225},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3467000126838684},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.3357999920845032},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.3336000144481659},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3208000063896179},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3118000030517578},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.31150001287460327},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3095000088214874},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2946999967098236},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C202286095","wikidata":"https://www.wikidata.org/wiki/Q579262","display_name":"Error function","level":2,"score":0.27720001339912415},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.27720001339912415},{"id":"https://openalex.org/C185109637","wikidata":"https://www.wikidata.org/wiki/Q7915740","display_name":"Variable structure control","level":4,"score":0.25999999046325684},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2599000036716461},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2026.105536","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.robot.2026.105536","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.854352593421936,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2008418625","https://openalex.org/W2034088441","https://openalex.org/W2045609879","https://openalex.org/W2046956237","https://openalex.org/W2061159069","https://openalex.org/W2063640990","https://openalex.org/W2085019476","https://openalex.org/W2113433055","https://openalex.org/W2128296806","https://openalex.org/W2148328967","https://openalex.org/W2770662685","https://openalex.org/W2781895760","https://openalex.org/W2799729333","https://openalex.org/W2841941342","https://openalex.org/W2936459020","https://openalex.org/W2964589893","https://openalex.org/W2995895077","https://openalex.org/W3003460495","https://openalex.org/W3026193328","https://openalex.org/W3134002303","https://openalex.org/W4206647144","https://openalex.org/W4300885720","https://openalex.org/W4408899706","https://openalex.org/W4409469350","https://openalex.org/W4410098408","https://openalex.org/W4410312632"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2026-05-17T00:00:00"}