{"id":"https://openalex.org/W4401809423","doi":"https://doi.org/10.1109/access.2024.3449042","title":"Modeling and Control of a 3DOF Robot Manipulator Using Artificial Fuzzy-Immune FOPID Controller","display_name":"Modeling and Control of a 3DOF Robot Manipulator Using Artificial Fuzzy-Immune FOPID Controller","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4401809423","doi":"https://doi.org/10.1109/access.2024.3449042"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3449042","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3449042","pdf_url":null,"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://doi.org/10.1109/access.2024.3449042","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092675737","display_name":"Worod Adris Shutnan","orcid":"https://orcid.org/0009-0009-2200-0822"},"institutions":[{"id":"https://openalex.org/I4210126504","display_name":"University of Al-Qadisiyah","ror":"https://ror.org/02ewzwr87","country_code":"IQ","type":"education","lineage":["https://openalex.org/I4210126504"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Worod Adris Shutnan","raw_affiliation_strings":["Department of Electronic and Communications Engineering, College of Engineering, University of Al-Qadisiyah, Al-Diwaniyah, Iraq"],"raw_orcid":"https://orcid.org/0009-0009-2200-0822","affiliations":[{"raw_affiliation_string":"Department of Electronic and Communications Engineering, College of Engineering, University of Al-Qadisiyah, Al-Diwaniyah, Iraq","institution_ids":["https://openalex.org/I4210126504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017256273","display_name":"Nora Mohammed","orcid":"https://orcid.org/0000-0003-0995-2449"},"institutions":[{"id":"https://openalex.org/I4210126504","display_name":"University of Al-Qadisiyah","ror":"https://ror.org/02ewzwr87","country_code":"IQ","type":"education","lineage":["https://openalex.org/I4210126504"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Nora Ahmed Mohammed","raw_affiliation_strings":["Department of Electronic and Communications Engineering, College of Engineering, University of Al-Qadisiyah, Al-Diwaniyah, Iraq"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Communications Engineering, College of Engineering, University of Al-Qadisiyah, Al-Diwaniyah, Iraq","institution_ids":["https://openalex.org/I4210126504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034427133","display_name":"Faris Asaad Abdulmunem","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126504","display_name":"University of Al-Qadisiyah","ror":"https://ror.org/02ewzwr87","country_code":"IQ","type":"education","lineage":["https://openalex.org/I4210126504"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Faris Asaad Abdulmunem","raw_affiliation_strings":["Department of Electronic and Communications Engineering, College of Engineering, University of Al-Qadisiyah, Al-Diwaniyah, Iraq"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Communications Engineering, College of Engineering, University of Al-Qadisiyah, Al-Diwaniyah, Iraq","institution_ids":["https://openalex.org/I4210126504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089377708","display_name":"Ali Hamzah Najim","orcid":"https://orcid.org/0000-0003-2898-9634"},"institutions":[{"id":"https://openalex.org/I3040621137","display_name":"Alsalam University College","ror":"https://ror.org/0047hkh43","country_code":"IQ","type":"education","lineage":["https://openalex.org/I3040621137"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Ali Hamzah Najim","raw_affiliation_strings":["Department of Computer Technical Engineering, Imam Al-Kadhum College (IKC), Al-Diwaniyah, Iraq"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Technical Engineering, Imam Al-Kadhum College (IKC), Al-Diwaniyah, Iraq","institution_ids":["https://openalex.org/I3040621137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113345157","display_name":"Mustafa Yahya Hassan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126504","display_name":"University of Al-Qadisiyah","ror":"https://ror.org/02ewzwr87","country_code":"IQ","type":"education","lineage":["https://openalex.org/I4210126504"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Mustafa Yahya Hassan","raw_affiliation_strings":["Department of Computer Science and Information Technology, University of Al-Qadisiya, Al-Diwaniyah, Iraq"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Information Technology, University of Al-Qadisiya, Al-Diwaniyah, Iraq","institution_ids":["https://openalex.org/I4210126504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046897313","display_name":"Naglaa F. Soliman","orcid":"https://orcid.org/0000-0001-7322-1857"},"institutions":[{"id":"https://openalex.org/I106778892","display_name":"Princess Nourah bint Abdulrahman University","ror":"https://ror.org/05b0cyh02","country_code":"SA","type":"education","lineage":["https://openalex.org/I106778892"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Naglaa F. Soliman","raw_affiliation_strings":["Department of Information Technology, College of Computer and Information Sciences, Princess Nourah Bint Abdulrahman University, Riyadh, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0001-7322-1857","affiliations":[{"raw_affiliation_string":"Department of Information Technology, College of Computer and Information Sciences, Princess Nourah Bint Abdulrahman University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I106778892"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103018247","display_name":"Abeer D. Algarni","orcid":"https://orcid.org/0000-0001-7199-5082"},"institutions":[{"id":"https://openalex.org/I106778892","display_name":"Princess Nourah bint Abdulrahman University","ror":"https://ror.org/05b0cyh02","country_code":"SA","type":"education","lineage":["https://openalex.org/I106778892"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Abeer D. Algarni","raw_affiliation_strings":["Department of Information Technology, College of Computer and Information Sciences, Princess Nourah Bint Abdulrahman University, Riyadh, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology, College of Computer and Information Sciences, Princess Nourah Bint Abdulrahman University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I106778892"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.3034,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.7823381,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"153074","last_page":"153088"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.8942000269889832,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.8942000269889832,"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/T13717","display_name":"Advanced Algorithms and Applications","score":0.8810999989509583,"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":0.8450999855995178,"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/computer-science","display_name":"Computer science","score":0.5951198935508728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5461068153381348},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5424841046333313},{"id":"https://openalex.org/keywords/artificial-immune-system","display_name":"Artificial immune system","score":0.5293888449668884},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5051100850105286},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4995429515838623},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.46899938583374023},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4446074068546295},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.410068154335022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35561078786849976},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3519118130207062},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21177637577056885},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.061119019985198975}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5951198935508728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5461068153381348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5424841046333313},{"id":"https://openalex.org/C93768804","wikidata":"https://www.wikidata.org/wiki/Q2518735","display_name":"Artificial immune system","level":2,"score":0.5293888449668884},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5051100850105286},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4995429515838623},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.46899938583374023},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4446074068546295},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.410068154335022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35561078786849976},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3519118130207062},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21177637577056885},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.061119019985198975},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3449042","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3449042","pdf_url":null,"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:5806666f279f4e40b348d67377e3c06c","is_oa":true,"landing_page_url":"https://doaj.org/article/5806666f279f4e40b348d67377e3c06c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 153074-153088 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3449042","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3449042","pdf_url":null,"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":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322484","display_name":"Princess Nourah Bint Abdulrahman University","ror":"https://ror.org/05b0cyh02"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2019574369","https://openalex.org/W2066517843","https://openalex.org/W2113058237","https://openalex.org/W2147705959","https://openalex.org/W2166018205","https://openalex.org/W2170115020","https://openalex.org/W2397478606","https://openalex.org/W2509666898","https://openalex.org/W2528849925","https://openalex.org/W2612771597","https://openalex.org/W2735342008","https://openalex.org/W2774547044","https://openalex.org/W2781895760","https://openalex.org/W2791233741","https://openalex.org/W2807505227","https://openalex.org/W2921509807","https://openalex.org/W2944636173","https://openalex.org/W3111861357","https://openalex.org/W3136268103","https://openalex.org/W3185339031","https://openalex.org/W4211228564","https://openalex.org/W4240978971","https://openalex.org/W4291309105","https://openalex.org/W4320175974","https://openalex.org/W4383822101","https://openalex.org/W4384080796","https://openalex.org/W4388201214","https://openalex.org/W4389344995","https://openalex.org/W6693245039"],"related_works":["https://openalex.org/W3169290918","https://openalex.org/W1580592754","https://openalex.org/W1567226815","https://openalex.org/W240541972","https://openalex.org/W2599157344","https://openalex.org/W2802332472","https://openalex.org/W2088728807","https://openalex.org/W3148246048","https://openalex.org/W2166009978","https://openalex.org/W135622916"],"abstract_inverted_index":{"A":[0,112],"robotic":[1,75],"manipulator":[2,76,183,224],"is":[3,32,48,100,115,123,184,213],"a":[4,52,73,101,116,124,150,197],"highly":[5],"nonlinear,":[6],"coupled":[7],"system":[8,243],"with":[9,17,186],"many":[10],"inputs":[11],"and":[12,62,67,79,142,248],"outputs":[13],"(MIMO).":[14],"These":[15],"days,":[16],"the":[18,35,88,98,136,147,160,208,223,230],"development":[19],"of":[20,85,97,127,138,149,155,218,222],"technology,":[21],"using":[22,159,256],"robots":[23],"has":[24,205],"become":[25],"very":[26],"common":[27],"in":[28,65,81,145,216,229,238],"various":[29],"fields.":[30],"It":[31],"difficult":[33],"for":[34,43,72,225],"control":[36,92,151,194,200,228,242,250],"experts":[37],"to":[38,50],"create":[39],"an":[40,57],"effective":[41],"controller":[42,54,61,104,122,129,212],"this":[44,82],"system,":[45],"so":[46],"it":[47],"preferable":[49],"design":[51],"non-linear":[53],"that":[55,105,172,207],"gives":[56],"accurate,":[58],"more":[59,214],"efficient":[60,215],"good":[63],"results":[64],"robustness":[66],"uncertainty.":[68],"Two":[69],"distinct":[70],"controllers":[71,156,235,253],"3-DoF":[74],"are":[77,94,157],"developed":[78],"evaluated":[80],"research\u2019s":[83],"context":[84],"Industry.":[86],"During":[87],"investigation,":[89],"two":[90],"primary":[91],"strategies":[93],"introduced.":[95],"One":[96],"first":[99],"fuzzy-immune":[102,117],"PID":[103,121,247],"employs":[106],"joint":[107,231],"position":[108],"error":[109,179,221],"as":[110],"inputs.":[111],"second":[113],"type":[114],"FOPID":[118,128,211,249],"controller.":[119],"The":[120,133,153,164,181,188,240],"particular":[125],"case":[126],"when$\\lambda":[130],"=\\mu":[131],"=1$.":[132],"research":[134],"underscores":[135],"significance":[137],"precise":[139],"parameter":[140],"calibration":[141],"data":[143],"acquisition":[144],"optimizing":[146],"performance":[148,174],"system.":[152],"parameters":[154],"tuned":[158],"clonal":[161],"selection":[162],"algorithm.":[163],"controllers\u2019":[165],"efficacy":[166],"was":[167],"verified":[168],"through":[169],"quantitative":[170],"analysis":[171],"employed":[173],"indices,":[175],"including":[176],"mean":[177],"square":[178],"(MSE).":[180],"robot":[182],"constructed":[185],"MATLAB.":[187,257],"proposed":[189],"technique,":[190],"which":[191],"combines":[192],"intelligent":[193],"methods,":[195],"offers":[196],"promising":[198],"hybrid":[199],"design.":[201],"Our":[202],"software":[203],"implementation":[204],"demonstrated":[206],"fuzzy":[209],"immune":[210],"terms":[217],"reduced":[219],"tracking":[220],"its":[226],"dynamic":[227],"space":[232],"than":[233],"other":[234],"typically":[236],"used":[237],"practice.":[239],"positioning":[241],"utilizes":[244],"Fuzzy":[245],"Immune":[246],"techniques.":[251],"All":[252],"were":[254],"designed":[255]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
