{"id":"https://openalex.org/W4313136157","doi":"https://doi.org/10.1109/access.2022.3215980","title":"Simple Neural Network Compact Form Model-Free Adaptive Controller for Thin McKibben Muscle System","display_name":"Simple Neural Network Compact Form Model-Free Adaptive Controller for Thin McKibben Muscle System","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4313136157","doi":"https://doi.org/10.1109/access.2022.3215980"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3215980","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3215980","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09934849.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09934849.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068168570","display_name":"Muhamad Hazwan Abdul Hafidz","orcid":"https://orcid.org/0000-0002-9702-3262"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"Muhamad Hazwan Abdul Hafidz","raw_affiliation_strings":["Faculty of Engineering, School of Electrical Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, School of Electrical Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026618591","display_name":"Ahmad Athif Mohd Faudzi","orcid":"https://orcid.org/0000-0002-8591-4551"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Ahmad Athif Mohd Faudzi","raw_affiliation_strings":["Faculty of Engineering, School of Electrical Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia","Centre for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, Kuala Lumpur, Malaysia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, School of Electrical Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia","institution_ids":["https://openalex.org/I4576418"]},{"raw_affiliation_string":"Centre for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, Kuala Lumpur, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047678419","display_name":"Nor Mohd Haziq Norsahperi","orcid":"https://orcid.org/0000-0001-7523-1821"},"institutions":[{"id":"https://openalex.org/I130343225","display_name":"Universiti Putra Malaysia","ror":"https://ror.org/02e91jd64","country_code":"MY","type":"education","lineage":["https://openalex.org/I130343225"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Nor Mohd Haziq Norsahperi","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Faculty of Engineering, Universiti Putra Malaysia, Seri Kembangan, Selangor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Faculty of Engineering, Universiti Putra Malaysia, Seri Kembangan, Selangor, Malaysia","institution_ids":["https://openalex.org/I130343225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045577347","display_name":"Mohd Najeb Jamaludin","orcid":"https://orcid.org/0000-0002-9773-3862"},"institutions":[{"id":"https://openalex.org/I4576418","display_name":"University of Technology Malaysia","ror":"https://ror.org/026w31v75","country_code":"MY","type":"education","lineage":["https://openalex.org/I4576418"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"Mohd Najeb Jamaludin","raw_affiliation_strings":["Sports Innovation and Technology Centre, Institute Human Centered Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia","Institute Human Centered Engineering, Sports Innovation and Technology Centre, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Sports Innovation and Technology Centre, Institute Human Centered Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia","institution_ids":["https://openalex.org/I4576418"]},{"raw_affiliation_string":"Institute Human Centered Engineering, Sports Innovation and Technology Centre, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia","institution_ids":["https://openalex.org/I4576418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040016787","display_name":"Dayang Tiawa Awang Hamid","orcid":null},"institutions":[{"id":"https://openalex.org/I4210118138","display_name":"Sultan Sharif Ali Islamic University","ror":"https://ror.org/02gvn8796","country_code":"BN","type":"education","lineage":["https://openalex.org/I4210118138"]}],"countries":["BN"],"is_corresponding":false,"raw_author_name":"Dayang Tiawa Awang Hamid","raw_affiliation_strings":["Faculty of Islamic Technology, Sultan Sharif Ali Islamic University, Bandar Seri Begawan, Brunei"],"affiliations":[{"raw_affiliation_string":"Faculty of Islamic Technology, Sultan Sharif Ali Islamic University, Bandar Seri Begawan, Brunei","institution_ids":["https://openalex.org/I4210118138"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081822801","display_name":"Shahrol Mohamaddan","orcid":"https://orcid.org/0000-0002-4387-3456"},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shahrol Mohamaddan","raw_affiliation_strings":["Department of Bioscience and Engineering, College of Systems Engineering and Science, Shibaura Institute of Technology, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Bioscience and Engineering, College of Systems Engineering and Science, Shibaura Institute of Technology, Saitama, Japan","institution_ids":["https://openalex.org/I171481255"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068168570"],"corresponding_institution_ids":["https://openalex.org/I4576418"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2402,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.47364862,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"10","issue":null,"first_page":"123410","last_page":"123422"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965999722480774,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9965999722480774,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9922999739646912,"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":0.7237438559532166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6587772965431213},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6285496950149536},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5859401226043701},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5810370445251465},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5372545123100281},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5220303535461426},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5003328323364258},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.48315709829330444},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4685096740722656},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4286673069000244},{"id":"https://openalex.org/keywords/adaptive-system","display_name":"Adaptive system","score":0.417496919631958},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32880595326423645},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19102713465690613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17214727401733398},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10469922423362732}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7237438559532166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6587772965431213},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6285496950149536},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5859401226043701},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5810370445251465},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5372545123100281},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5220303535461426},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5003328323364258},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.48315709829330444},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4685096740722656},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4286673069000244},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.417496919631958},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32880595326423645},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19102713465690613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17214727401733398},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10469922423362732},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3215980","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3215980","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09934849.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3d15d0936f54407bbf905e50046826be","is_oa":true,"landing_page_url":"https://doaj.org/article/3d15d0936f54407bbf905e50046826be","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":"IEEE Access, Vol 10, Pp 123410-123422 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3215980","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3215980","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09934849.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6847442742","display_name":null,"funder_award_id":"FRGS/1/2019/TK04/UTM/02/41","funder_id":"https://openalex.org/F4320321709","funder_display_name":"Ministry of Higher Education, Malaysia"}],"funders":[{"id":"https://openalex.org/F4320320341","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365"},{"id":"https://openalex.org/F4320321709","display_name":"Ministry of Higher Education, Malaysia","ror":"https://ror.org/05mcs2t73"},{"id":"https://openalex.org/F4320322714","display_name":"Universiti Putra Malaysia","ror":"https://ror.org/02e91jd64"},{"id":"https://openalex.org/F4320323300","display_name":"Universiti Teknologi Malaysia","ror":"https://ror.org/026w31v75"},{"id":"https://openalex.org/F4320324298","display_name":"International Islamic University Malaysia","ror":"https://ror.org/03s9hs139"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313136157.pdf","grobid_xml":"https://content.openalex.org/works/W4313136157.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W43382659","https://openalex.org/W1515749184","https://openalex.org/W2000760352","https://openalex.org/W2023639354","https://openalex.org/W2040871222","https://openalex.org/W2073515924","https://openalex.org/W2077458446","https://openalex.org/W2606576226","https://openalex.org/W2611367167","https://openalex.org/W2742161259","https://openalex.org/W2751187042","https://openalex.org/W2783196494","https://openalex.org/W2806392674","https://openalex.org/W2893813411","https://openalex.org/W2913457334","https://openalex.org/W2913715341","https://openalex.org/W2932167159","https://openalex.org/W2945494399","https://openalex.org/W2964055987","https://openalex.org/W2972151763","https://openalex.org/W2988191778","https://openalex.org/W3009047462","https://openalex.org/W3037414720","https://openalex.org/W3048028760","https://openalex.org/W3049460223","https://openalex.org/W3049465092","https://openalex.org/W3062301336","https://openalex.org/W3090360945","https://openalex.org/W3134012657","https://openalex.org/W3138632881","https://openalex.org/W3214577593","https://openalex.org/W4226524719"],"related_works":["https://openalex.org/W4280596088","https://openalex.org/W1966075561","https://openalex.org/W2066936811","https://openalex.org/W2066530648","https://openalex.org/W1545539801","https://openalex.org/W2517762225","https://openalex.org/W2159955351","https://openalex.org/W2327636204","https://openalex.org/W2122133867","https://openalex.org/W2078184461"],"abstract_inverted_index":{"This":[0,49],"paper":[1],"proposes":[2],"a":[3,14,54,126,132,151,159],"simple":[4],"neural":[5,33],"network":[6,34],"compact":[7,37],"form":[8,38],"model-free":[9,39],"adaptive":[10,40,47,74,83,100],"controller":[11,41,174],"(NNCFMFAC)":[12],"for":[13,78,179],"single":[15],"thin":[16],"McKibben":[17],"muscle":[18],"(TMM)":[19],"system.":[20],"The":[21,63,116],"main":[22],"contribution":[23],"of":[24,30,67,98,110,140],"this":[25],"work":[26],"is":[27,50,76,85,118,148,169,185],"the":[28,31,60,68,81,89,96,111,138,141,145,155,172],"simplification":[29],"current":[32],"(NN)":[35],"based":[36,105],"(CFMFAC),":[42],"which":[43],"requires":[44],"only":[45],"two":[46],"weights.":[48],"achieved":[51],"by":[52,150],"designing":[53],"NN":[55],"topology":[56],"specifically":[57],"to":[58,87],"enhance":[59],"CFMFAC":[61,69,112,147],"response.":[62],"prominent":[64],"control":[65],"parameters":[66],"are":[70,113],"combined":[71],"and":[72,107,129,158,194],"one":[73],"weight":[75,84],"used":[77,86],"self-tuning,":[79],"while":[80],"second":[82],"minimize":[88],"offset":[90],"at":[91],"each":[92],"operating":[93],"point.":[94],"Hence":[95],"issues":[97],"redundant":[99],"weights":[101],"in":[102,120,154,162],"complex":[103],"neuro":[104],"CFMFACs":[106],"slow":[108],"response":[109],"significantly":[114],"addressed.":[115],"idea":[117],"proven":[119],"three":[121],"ways:":[122],"analytically,":[123],"simulation":[124],"on":[125,131],"nonlinear":[127],"system":[128],"experiments":[130],"TMM":[133,180],"platform.":[134],"Experimental":[135],"results":[136],"demonstrate":[137],"superiority":[139],"proposed":[142,173],"method":[143],"over":[144],"conventional":[146],"confirmed":[149],"76%":[152],"improvement":[153],"convergence":[156],"speed":[157],"60%":[160],"reduction":[161],"root":[163],"mean":[164],"square":[165],"error":[166],"(RMSE).":[167],"It":[168],"envisaged":[170],"that":[171],"can":[175],"be":[176],"very":[177],"useful":[178],"driven":[181],"applications":[182],"as":[183],"it":[184],"model":[186],"independent,":[187],"has":[188],"fast":[189],"response,":[190],"high":[191],"tracking":[192],"accuracy,":[193],"minimal":[195],"complexity.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}