{"id":"https://openalex.org/W2952932256","doi":"https://doi.org/10.1017/s0263574719000882","title":"Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer","display_name":"Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer","publication_year":2019,"publication_date":"2019-06-13","ids":{"openalex":"https://openalex.org/W2952932256","doi":"https://doi.org/10.1017/s0263574719000882","mag":"2952932256"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719000882","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000882","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/A5041221715","display_name":"Hossein Komijani","orcid":"https://orcid.org/0000-0003-0200-8340"},"institutions":[{"id":"https://openalex.org/I41832843","display_name":"University of Tabriz","ror":"https://ror.org/01papkj44","country_code":"IR","type":"education","lineage":["https://openalex.org/I41832843"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Hossein Komijani","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran","institution_ids":["https://openalex.org/I41832843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005918189","display_name":"Mojtaba Masoumnezhad","orcid":"https://orcid.org/0000-0002-3395-8886"},"institutions":[{"id":"https://openalex.org/I4210089766","display_name":"Technical and Vocational University","ror":"https://ror.org/00854zy02","country_code":"IR","type":"education","lineage":["https://openalex.org/I4210089766"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mojtaba Masoumnezhad","raw_affiliation_strings":["Department of Mechanical Engineering, Guilan Branch, Technical and Vocational University, Tehran, Iran. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Guilan Branch, Technical and Vocational University, Tehran, Iran. E-mail:","institution_ids":["https://openalex.org/I4210089766"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066349099","display_name":"Morteza Mohammadi Zanjireh","orcid":"https://orcid.org/0000-0001-9802-4788"},"institutions":[{"id":"https://openalex.org/I69425150","display_name":"Imam Khomeini International University","ror":"https://ror.org/02jeykk09","country_code":"IR","type":"education","lineage":["https://openalex.org/I69425150"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Morteza Mohammadi Zanjireh","raw_affiliation_strings":["Computer Engineering Department, Imam Khomeini International University, Qazvin, Iran. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Engineering Department, Imam Khomeini International University, Qazvin, Iran. E-mail:","institution_ids":["https://openalex.org/I69425150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079963272","display_name":"Mahdi Mir","orcid":"https://orcid.org/0000-0003-4563-734X"},"institutions":[{"id":"https://openalex.org/I86958956","display_name":"Ferdowsi University of Mashhad","ror":"https://ror.org/00g6ka752","country_code":"IR","type":"education","lineage":["https://openalex.org/I86958956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mahdi Mir","raw_affiliation_strings":["Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran. E-mail:","institution_ids":["https://openalex.org/I86958956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041221715"],"corresponding_institution_ids":["https://openalex.org/I41832843"],"apc_list":null,"apc_paid":null,"fwci":2.2992,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.88500134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"38","issue":"4","first_page":"605","last_page":"616"},"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9976000189781189,"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":0.9952999949455261,"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/control-theory","display_name":"Control theory (sociology)","score":0.8386602997779846},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7096929550170898},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5589804649353027},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4663597345352173},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.41772931814193726},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37992238998413086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35827744007110596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35593318939208984},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10819977521896362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10291165113449097},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09586024284362793},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05867677927017212}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8386602997779846},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7096929550170898},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5589804649353027},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4663597345352173},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.41772931814193726},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37992238998413086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35827744007110596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35593318939208984},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10819977521896362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10291165113449097},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09586024284362793},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05867677927017212},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719000882","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000882","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1974592903","https://openalex.org/W1982364295","https://openalex.org/W2027937716","https://openalex.org/W2059496156","https://openalex.org/W2061438946","https://openalex.org/W2066517843","https://openalex.org/W2157347895","https://openalex.org/W2158121031","https://openalex.org/W2159158220","https://openalex.org/W2165686770","https://openalex.org/W2289143454","https://openalex.org/W2341386190","https://openalex.org/W2525420961","https://openalex.org/W2564814102","https://openalex.org/W2572505366","https://openalex.org/W2584868608","https://openalex.org/W2602681797","https://openalex.org/W2605005657","https://openalex.org/W2620893410","https://openalex.org/W2701822350","https://openalex.org/W2738540198","https://openalex.org/W2751918889","https://openalex.org/W2790134453","https://openalex.org/W2798854001","https://openalex.org/W2807358671","https://openalex.org/W6740203195"],"related_works":["https://openalex.org/W1505013685","https://openalex.org/W2335200680","https://openalex.org/W2091433687","https://openalex.org/W2126474951","https://openalex.org/W2100428849","https://openalex.org/W2946566599","https://openalex.org/W2133380851","https://openalex.org/W2551843642","https://openalex.org/W2766406564","https://openalex.org/W2064649258"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,53,71,77],"novel":[5,78],"robust":[6,36,79],"hybrid":[7],"fractional":[8,55,64],"order":[9,56,65,113],"proportional":[10,66],"derivative":[11,67],"sliding":[12,57,73],"mode":[13,31,74],"controller":[14,32,68,75,80,104],"(HFOPDSMC)":[15],"for":[16],"2-degree":[17],"of":[18,48,95,102,118,165,180],"freedom":[19],"(2-DOF)":[20],"robot":[21],"manipulator":[22],"based":[23,81],"on":[24,82],"extended":[25],"grey":[26,137],"wolf":[27,138],"optimizer":[28,139],"(EGWO).":[29],"Sliding":[30],"(SMC)":[33],"is":[34,60,84,105,110,127],"remarkably":[35],"against":[37],"the":[38,45,63,93,96,100,103,116,119,125,131,135,150,157,166,177,181,185],"uncertainties":[39,89],"and":[40,43,70,98,143,160,170,188],"external":[41],"disturbances":[42],"shows":[44],"valuable":[46],"properties":[47],"accuracy.":[49],"In":[50,122],"this":[51,123],"paper,":[52,124],"new":[54,72],"surface":[58],"(FOSS)":[59],"defined.":[61],"Integrating":[62],"(FOPDC)":[69],"(FOSMC),":[76],"HFOPDSMC":[83],"proposed.":[85],"The":[86,107,141,163],"bounded":[87],"model":[88],"are":[90,146,172],"considered":[91],"in":[92,112,156],"dynamics":[94],"robot,":[97],"then":[99],"robustness":[101],"verified.":[106],"Lyapunov":[108],"theory":[109],"utilized":[111],"to":[114,134,148],"show":[115],"stability":[117],"proposed":[120,151],"controller.":[121],"EGWO":[126],"developed":[128],"by":[129,175],"adding":[130],"emphasis":[132],"coefficients":[133],"typical":[136,186],"(GWO).":[140],"GWO":[142],"EGWO,":[144],"then,":[145],"applied":[147],"optimize":[149],"control":[152],"parameters":[153],"which":[154],"result":[155],"optimized":[158,167,182],"GWO-HFOPDSMC":[159],"EGWO-HFOPDSMC,":[161],"respectively.":[162],"effectivenesses":[164],"controllers":[168,183],"(GWO-HFOPDSMC":[169],"EGWO-HFOPDSMC)":[171],"completely":[173],"verified":[174],"comparing":[176],"simulation":[178],"results":[179],"with":[184],"FOSMC":[187],"HFOPDSMC.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}