{"id":"https://openalex.org/W2075626922","doi":"https://doi.org/10.1017/s0263574714001775","title":"PSO-Lyapunov motion/force control of robot arms with model uncertainties","display_name":"PSO-Lyapunov motion/force control of robot arms with model uncertainties","publication_year":2014,"publication_date":"2014-07-04","ids":{"openalex":"https://openalex.org/W2075626922","doi":"https://doi.org/10.1017/s0263574714001775","mag":"2075626922"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001775","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001775","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/A5000327618","display_name":"Haifa Mehdi","orcid":null},"institutions":[{"id":"https://openalex.org/I42731748","display_name":"National Institute of Applied Science and Technology","ror":"https://ror.org/00qn2rd91","country_code":"TN","type":"facility","lineage":["https://openalex.org/I42731748"]}],"countries":["TN"],"is_corresponding":true,"raw_author_name":"Haifa Mehdi","raw_affiliation_strings":["National Institute of Applied Sciences and Technology, INSAT, Centre Urbain Nord, BP 676-1080 Tunis Cedex, Tunisia","National Institute of Applied Sciences and Technology (INSAT), Centre Urbain Nord, BP 676, 1080 Tunis Cedex, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Applied Sciences and Technology, INSAT, Centre Urbain Nord, BP 676-1080 Tunis Cedex, Tunisia","institution_ids":["https://openalex.org/I42731748"]},{"raw_affiliation_string":"National Institute of Applied Sciences and Technology (INSAT), Centre Urbain Nord, BP 676, 1080 Tunis Cedex, Tunisia","institution_ids":["https://openalex.org/I42731748"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055524328","display_name":"Olfa Boubaker","orcid":"https://orcid.org/0000-0001-8656-4090"},"institutions":[{"id":"https://openalex.org/I42731748","display_name":"National Institute of Applied Science and Technology","ror":"https://ror.org/00qn2rd91","country_code":"TN","type":"facility","lineage":["https://openalex.org/I42731748"]}],"countries":["TN"],"is_corresponding":true,"raw_author_name":"Olfa Boubaker","raw_affiliation_strings":["National Institute of Applied Sciences and Technology, INSAT, Centre Urbain Nord, BP 676-1080 Tunis Cedex, Tunisia","National Institute of Applied Sciences and Technology (INSAT), Centre Urbain Nord, BP 676, 1080 Tunis Cedex, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Applied Sciences and Technology, INSAT, Centre Urbain Nord, BP 676-1080 Tunis Cedex, Tunisia","institution_ids":["https://openalex.org/I42731748"]},{"raw_affiliation_string":"National Institute of Applied Sciences and Technology (INSAT), Centre Urbain Nord, BP 676, 1080 Tunis Cedex, Tunisia","institution_ids":["https://openalex.org/I42731748"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5000327618","https://openalex.org/A5055524328"],"corresponding_institution_ids":["https://openalex.org/I42731748"],"apc_list":null,"apc_paid":null,"fwci":0.403,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.69924449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"34","issue":"3","first_page":"634","last_page":"651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7580558061599731},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6276811361312866},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6250150799751282},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5818887948989868},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5584050416946411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5213733315467834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4495576024055481},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4138840436935425},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23608529567718506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2310308814048767},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1721394658088684},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10043832659721375},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07248777151107788}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7580558061599731},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6276811361312866},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6250150799751282},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5818887948989868},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5584050416946411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5213733315467834},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4495576024055481},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4138840436935425},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23608529567718506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2310308814048767},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1721394658088684},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10043832659721375},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07248777151107788},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714001775","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001775","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":47,"referenced_works":["https://openalex.org/W140871521","https://openalex.org/W281156930","https://openalex.org/W1543259728","https://openalex.org/W1551227056","https://openalex.org/W1560270123","https://openalex.org/W1571443838","https://openalex.org/W1599445788","https://openalex.org/W1614856460","https://openalex.org/W1798749457","https://openalex.org/W1925428099","https://openalex.org/W1972218541","https://openalex.org/W1984777601","https://openalex.org/W1992280544","https://openalex.org/W1996542214","https://openalex.org/W1996611292","https://openalex.org/W2016770250","https://openalex.org/W2017104425","https://openalex.org/W2027509441","https://openalex.org/W2030758431","https://openalex.org/W2039476122","https://openalex.org/W2040861318","https://openalex.org/W2058737606","https://openalex.org/W2058872612","https://openalex.org/W2081546500","https://openalex.org/W2082950964","https://openalex.org/W2083773572","https://openalex.org/W2089421806","https://openalex.org/W2092301402","https://openalex.org/W2096276004","https://openalex.org/W2099677374","https://openalex.org/W2108931365","https://openalex.org/W2109364787","https://openalex.org/W2114446550","https://openalex.org/W2114657142","https://openalex.org/W2121693658","https://openalex.org/W2126554879","https://openalex.org/W2126877763","https://openalex.org/W2139386984","https://openalex.org/W2141103690","https://openalex.org/W2165299997","https://openalex.org/W2169245194","https://openalex.org/W4229881848","https://openalex.org/W4237327280","https://openalex.org/W4239340743","https://openalex.org/W4302314505","https://openalex.org/W6632370318","https://openalex.org/W6646559645"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W4281727072","https://openalex.org/W4312219546","https://openalex.org/W3154990682","https://openalex.org/W2171975302","https://openalex.org/W2142809053","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"method":[2],"for":[3,42,46],"motion/force":[4],"control":[5,15,83],"of":[6,16],"robot":[7,86],"arms":[8],"with":[9,25,73],"model":[10,61,96],"uncertainties":[11,97],"is":[12,19,50],"presented.":[13],"Tracking":[14,36],"complex":[17],"trajectories":[18],"guaranteed":[20],"using":[21,29,69],"a":[22,30,43],"Lyapunov":[23,74],"approach":[24],"high-precision":[26],"performance":[27,37],"ensured":[28],"particle":[31],"swarm":[32],"optimization":[33],"(PSO)":[34],"algorithm.":[35],"and":[38,92,98],"robustness":[39],"are":[40,66],"simulated":[41],"robotic":[44],"device":[45],"limb":[47],"rehabilitation":[48],"that":[49],"designed":[51],"to":[52,56],"be":[53],"adapted":[54],"easily":[55],"different":[57],"subjects":[58],"by":[59],"considering":[60],"parameter":[62],"uncertainties.":[63],"Controller":[64],"parameters":[65],"optimized":[67],"offline":[68],"the":[70,82,85],"PSO":[71],"algorithm":[72],"stability":[75],"conditions":[76],"considered":[77],"as":[78],"inequality":[79],"constraints.":[80],"Using":[81],"scheme,":[84],"can":[87],"guide":[88],"limbs":[89],"on":[90],"smooth":[91],"non-smooth":[93],"trajectories,":[94],"under":[95],"measurement":[99],"noise.":[100]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
