{"id":"https://openalex.org/W4387914534","doi":"https://doi.org/10.1109/codit58514.2023.10284339","title":"Optimized Sliding Control based on Firefly Algorithm for Rigid Robot Manipulator<sup>*</sup>","display_name":"Optimized Sliding Control based on Firefly Algorithm for Rigid Robot Manipulator<sup>*</sup>","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4387914534","doi":"https://doi.org/10.1109/codit58514.2023.10284339"},"language":"en","primary_location":{"id":"doi:10.1109/codit58514.2023.10284339","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-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/A5002506905","display_name":"Hatem Tlijani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131288","display_name":"National Engineering School of Tunis","ror":"https://ror.org/03b1zjt31","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":true,"raw_author_name":"Hatem. Tlijani","raw_affiliation_strings":["Laboratory of Automatic, National Engineering School of Tunis (ENIT),Le Belvedere Tunis,Tunisia,1002"],"affiliations":[{"raw_affiliation_string":"Laboratory of Automatic, National Engineering School of Tunis (ENIT),Le Belvedere Tunis,Tunisia,1002","institution_ids":["https://openalex.org/I4210131288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015531491","display_name":"Ameni Jouila","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131288","display_name":"National Engineering School of Tunis","ror":"https://ror.org/03b1zjt31","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Ameni. Jouila","raw_affiliation_strings":["National Engineering School of Tunis (ENIT),Le Belvedere Tunis,Tunisia,1002"],"affiliations":[{"raw_affiliation_string":"National Engineering School of Tunis (ENIT),Le Belvedere Tunis,Tunisia,1002","institution_ids":["https://openalex.org/I4210131288"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105424470","display_name":"Khaled Nouri","orcid":null},"institutions":[{"id":"https://openalex.org/I2800887215","display_name":"Tunisia Polytechnic School","ror":"https://ror.org/00dse3307","country_code":"TN","type":"education","lineage":["https://openalex.org/I2800887215"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Khaled. Nouri","raw_affiliation_strings":["Laboratory of Advanced Systems (LSA); Polytechnic School of Tunisia,Tunisia","Polytechnic School of Tunisia, Tunisia"],"affiliations":[{"raw_affiliation_string":"Laboratory of Advanced Systems (LSA); Polytechnic School of Tunisia,Tunisia","institution_ids":["https://openalex.org/I2800887215"]},{"raw_affiliation_string":"Polytechnic School of Tunisia, Tunisia","institution_ids":["https://openalex.org/I2800887215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5002506905"],"corresponding_institution_ids":["https://openalex.org/I4210131288"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1641676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"48","issue":null,"first_page":"1201","last_page":"1206"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T11749","display_name":"Iterative Learning Control Systems","score":0.9988999962806702,"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":0.9983999729156494,"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":0.8237327337265015},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.635011613368988},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6135483980178833},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6003251671791077},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5974952578544617},{"id":"https://openalex.org/keywords/firefly-algorithm","display_name":"Firefly algorithm","score":0.5966057777404785},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.5448115468025208},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5108308792114258},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49674707651138306},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4762161672115326},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4586309492588043},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.44903114438056946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4335167407989502},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35930490493774414},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.32797324657440186},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27965980768203735},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17133411765098572},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16705802083015442},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16061773896217346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14320796728134155},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07172483205795288}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8237327337265015},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.635011613368988},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6135483980178833},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6003251671791077},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5974952578544617},{"id":"https://openalex.org/C154982244","wikidata":"https://www.wikidata.org/wiki/Q5451844","display_name":"Firefly algorithm","level":3,"score":0.5966057777404785},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5448115468025208},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5108308792114258},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49674707651138306},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4762161672115326},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4586309492588043},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.44903114438056946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4335167407989502},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35930490493774414},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32797324657440186},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27965980768203735},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17133411765098572},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16705802083015442},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16061773896217346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14320796728134155},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07172483205795288},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit58514.2023.10284339","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1523741643","https://openalex.org/W2118766245","https://openalex.org/W2522632445","https://openalex.org/W2532673523","https://openalex.org/W2608224837","https://openalex.org/W2766188596","https://openalex.org/W2789897185","https://openalex.org/W2795149216","https://openalex.org/W2800008718","https://openalex.org/W2806049630","https://openalex.org/W2890103148","https://openalex.org/W2899923556","https://openalex.org/W2902315196","https://openalex.org/W2908876869","https://openalex.org/W2945928974","https://openalex.org/W2953741417","https://openalex.org/W2999778851","https://openalex.org/W3009198376","https://openalex.org/W3020224186","https://openalex.org/W3031256685","https://openalex.org/W3116546854","https://openalex.org/W3128398354","https://openalex.org/W3139021123","https://openalex.org/W3165182604","https://openalex.org/W3182354834","https://openalex.org/W3216559873","https://openalex.org/W4200317380","https://openalex.org/W4214547917","https://openalex.org/W4220816467","https://openalex.org/W4280511800","https://openalex.org/W4292098248"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W1995636945","https://openalex.org/W4214925198","https://openalex.org/W1788310316","https://openalex.org/W2605005657"],"abstract_inverted_index":{"Robot":[0],"manipulators":[1],"are":[2,26],"used":[3],"in":[4,17,41],"high":[5,30],"accuracy":[6,124],"processes":[7],"they":[8],"provide":[9],"flexibility,":[10],"adaptability,":[11],"and":[12,21,33,68,103,125],"a":[13,44,98,104],"large":[14],"workspace.":[15],"Hence,":[16],"presence":[18],"of":[19,47,100,127],"uncertainties,":[20],"disturbance,":[22],"high-performance":[23],"control":[24,92,115],"approaches":[25,56],"necessary":[27],"to":[28,89],"achieve":[29],"tracking":[31],"precision":[32],"transient":[34],"response":[35],"under":[36],"load":[37],"variation.":[38],"We":[39],"present":[40],"this":[42],"paper":[43],"novel":[45],"concept":[46],"Non-singular":[48,61,71],"Fast":[49,62,72],"Terminal":[50,63,73],"Sliding":[51,64,74],"Mode":[52,65],"Controller":[53,66,75],"(NFTSMC).":[54],"Two":[55],"have":[57],"been":[58],"developed:":[59],"Robust":[60,69],"(RNFTSMC)":[67],"Optimized":[70],"(RONFTSMC).":[76],"In":[77],"the":[78,90,114,119,123,128],"first":[79],"one":[80,96],"an":[81],"additional":[82],"term":[83],"called":[84],"switching":[85],"signal":[86],"is":[87,97],"add":[88],"equivalent":[91],"law.":[93],"The":[94],"second":[95],"combination":[99],"(NFTSM)":[101],"technique,":[102],"Firefly":[105],"Algorithm":[106],"(FA)":[107],"as":[108],"optimum":[109],"term.":[110],"Simulations":[111],"show":[112],"that":[113],"strategy":[116],"can":[117],"overcome":[118],"chattering":[120],"phenomena":[121],"ensures":[122],"stability":[126],"joint":[129],"robot":[130],"position":[131],"control.":[132]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}
