{"id":"https://openalex.org/W2076274683","doi":"https://doi.org/10.1017/s0263574705001992","title":"Control of a robot manipulator and pendubot system using artificial neural networks","display_name":"Control of a robot manipulator and pendubot system using artificial neural networks","publication_year":2005,"publication_date":"2005-11-01","ids":{"openalex":"https://openalex.org/W2076274683","doi":"https://doi.org/10.1017/s0263574705001992","mag":"2076274683"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574705001992","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574705001992","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5039463595","display_name":"Joseph Constantin","orcid":"https://orcid.org/0000-0002-7911-1218"},"institutions":[{"id":"https://openalex.org/I160368002","display_name":"Lebanese University","ror":"https://ror.org/05x6qnc69","country_code":"LB","type":"education","lineage":["https://openalex.org/I160368002"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Joseph Constantin","raw_affiliation_strings":["Department of EE, Faculty of Engineering I, Lebanese University EL ARZ Street, Tripoli-North (Lebanon","Department of EE, Faculty of Engineering I, Lebanese University EL ARZ Street, Tripoli-North (Lebanon)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of EE, Faculty of Engineering I, Lebanese University EL ARZ Street, Tripoli-North (Lebanon","institution_ids":["https://openalex.org/I160368002"]},{"raw_affiliation_string":"Department of EE, Faculty of Engineering I, Lebanese University EL ARZ Street, Tripoli-North (Lebanon)","institution_ids":["https://openalex.org/I160368002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034428366","display_name":"Cha\u00efban Nasr","orcid":null},"institutions":[{"id":"https://openalex.org/I2802487185","display_name":"Universit\u00e9 du littoral c\u00f4te d'opale","ror":"https://ror.org/02gdcg342","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802487185"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cha\u00efban Nasr","raw_affiliation_strings":["Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France","Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France).#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France","institution_ids":["https://openalex.org/I2802487185"]},{"raw_affiliation_string":"Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France).#TAB#","institution_ids":["https://openalex.org/I2802487185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084523165","display_name":"Denis Hamad","orcid":"https://orcid.org/0000-0001-6000-8707"},"institutions":[{"id":"https://openalex.org/I2802487185","display_name":"Universit\u00e9 du littoral c\u00f4te d'opale","ror":"https://ror.org/02gdcg342","country_code":"FR","type":"education","lineage":["https://openalex.org/I2802487185"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Denis Hamad","raw_affiliation_strings":["Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France","Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France).#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France","institution_ids":["https://openalex.org/I2802487185"]},{"raw_affiliation_string":"Laboratoire d'Analyse des Syst\u00e8mes du Littoral. Universit\u00e9 du Littoral C\u00f4te d'Opale \u2013 50 rue Ferdinand Buisson, Cedex 699 62228 Calais (France).#TAB#","institution_ids":["https://openalex.org/I2802487185"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.11274238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"23","issue":"6","first_page":"781","last_page":"784"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9977999925613403,"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":0.9977999925613403,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9966999888420105,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9947999715805054,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.7642370462417603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5988559722900391},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.588614821434021},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5380899310112},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5055615901947021},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.49780893325805664},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4855039119720459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43901559710502625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43301329016685486},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.42825886607170105},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34230804443359375}],"concepts":[{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7642370462417603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5988559722900391},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.588614821434021},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5380899310112},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5055615901947021},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.49780893325805664},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4855039119720459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43901559710502625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43301329016685486},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42825886607170105},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34230804443359375},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574705001992","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574705001992","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1493190793","https://openalex.org/W1522754958","https://openalex.org/W2101346342","https://openalex.org/W2107783741","https://openalex.org/W2110871878","https://openalex.org/W2110898478","https://openalex.org/W2140907765","https://openalex.org/W2141664682","https://openalex.org/W2148178391","https://openalex.org/W2157059780"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W2000675896","https://openalex.org/W4238458658","https://openalex.org/W3213839729","https://openalex.org/W2753073204","https://openalex.org/W324942907","https://openalex.org/W1979214824","https://openalex.org/W2192101006","https://openalex.org/W2381705136","https://openalex.org/W190531548"],"abstract_inverted_index":{"The":[0,42],"paper":[1],"introduces":[2],"artificial":[3],"neural":[4,40],"networks":[5],"for":[6,13],"the":[7,36,39],"conventional":[8,72],"control":[9,20,46],"of":[10,38,44,47],"robotic":[11],"systems":[12],"better":[14],"tracking":[15],"performance.":[16],"Different":[17],"advanced":[18],"dynamic":[19],"techniques":[21],"are":[22,64,68],"explained":[23],"and":[24,61,66],"a":[25,48,71],"new":[26],"second":[27],"order":[28],"recursive":[29],"algorithm":[30],"has":[31,54],"been":[32,55],"developed":[33],"to":[34,70],"tune":[35],"weights":[37],"network.":[41],"problem":[43],"real-time":[45],"Pendubot":[49],"system":[50],"in":[51],"difficult":[52],"situations":[53],"addressed.":[56],"Examples,":[57],"such":[58],"as":[59],"positioning":[60],"balancing":[62],"structures,":[63],"presented":[65],"performances":[67],"compared":[69],"PD":[73],"controller.":[74]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
