{"id":"https://openalex.org/W7124161494","doi":"https://doi.org/10.1109/codit66093.2025.11321772","title":"Fractional Order Lyapunov based Indirect Adaptive Backstepping Control Design for DELTA Robot","display_name":"Fractional Order Lyapunov based Indirect Adaptive Backstepping Control Design for DELTA Robot","publication_year":2025,"publication_date":"2025-07-15","ids":{"openalex":"https://openalex.org/W7124161494","doi":"https://doi.org/10.1109/codit66093.2025.11321772"},"language":"en","primary_location":{"id":"doi:10.1109/codit66093.2025.11321772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th 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/A5118596226","display_name":"Yacine Hatem","orcid":null},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Yacine Hatem","raw_affiliation_strings":["Ecole Nationale Polytechnique,Department of Automatic Control Eng.,Algiers,Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Nationale Polytechnique,Department of Automatic Control Eng.,Algiers,Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123028845","display_name":"Sidali Ihadaden","orcid":null},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Sidali Ihadaden","raw_affiliation_strings":["Ecole Nationale Polytechnique,Department of Automatic Control Eng.,Algiers,Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Nationale Polytechnique,Department of Automatic Control Eng.,Algiers,Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016692491","display_name":"Samir LADACI","orcid":null},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Samir Ladaci","raw_affiliation_strings":["Ecole Nationale Polytechnique,Department of Automatic Control Eng.,Algiers,Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Nationale Polytechnique,Department of Automatic Control Eng.,Algiers,Algeria","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055122972","display_name":"Mohamed Zerrougui","orcid":"https://orcid.org/0000-0002-2270-1719"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mohamed Zerrougui","raw_affiliation_strings":["Aix-Marseille University,Labroatory of Information and Systems (LIS-UMR CNRS 702),Marseille,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aix-Marseille University,Labroatory of Information and Systems (LIS-UMR CNRS 702),Marseille,France","institution_ids":["https://openalex.org/I4210114274","https://openalex.org/I1294671590","https://openalex.org/I21491767"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.59655939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2639","last_page":"2644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.3230000138282776,"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":0.3230000138282776,"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":0.17739999294281006,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.08739999681711197,"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/backstepping","display_name":"Backstepping","score":0.8762999773025513},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7990999817848206},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6811000108718872},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.631600022315979},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5202999711036682},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.48489999771118164},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44859999418258667},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43529999256134033}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8762999773025513},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7990999817848206},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6811000108718872},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.631600022315979},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5401999950408936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5213000178337097},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5202999711036682},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.48489999771118164},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44859999418258667},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43529999256134033},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4185999929904938},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4115999937057495},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.40610000491142273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4025999903678894},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4023999869823456},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3991999924182892},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.39899998903274536},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.39750000834465027},{"id":"https://openalex.org/C154249771","wikidata":"https://www.wikidata.org/wiki/Q1339058","display_name":"Fractional calculus","level":2,"score":0.3659999966621399},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27149999141693115},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2669000029563904}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/codit66093.2025.11321772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-05482710v1","is_oa":false,"landing_page_url":"https://hal.science/hal-05482710","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"11th International Conference on Control, Decision and Information Technologies (CoDIT 2025), Jul 2025, Split, Croatia. pp.2639-2644, &#x27E8;10.1109/CoDIT66093.2025.11321772&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W101300567","https://openalex.org/W1422661596","https://openalex.org/W2004202105","https://openalex.org/W2017985491","https://openalex.org/W2030959812","https://openalex.org/W2049217659","https://openalex.org/W2059163735","https://openalex.org/W2092861539","https://openalex.org/W2568691083","https://openalex.org/W2568770738","https://openalex.org/W2904421979","https://openalex.org/W2946753507","https://openalex.org/W3013051518","https://openalex.org/W3015499449","https://openalex.org/W3153657131","https://openalex.org/W4205580937","https://openalex.org/W4221063864","https://openalex.org/W4236649993","https://openalex.org/W4317037183","https://openalex.org/W4388917798","https://openalex.org/W4394755823","https://openalex.org/W4400060251","https://openalex.org/W4401947619","https://openalex.org/W4411552038"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,19,89],"novel":[4],"Fractional":[5],"Order":[6],"Lyapunov-based":[7],"Indirect":[8],"Adaptive":[9],"Backstepping":[10],"Control":[11],"strategy":[12,122],"for":[13],"the":[14,34,39,42,54,76,106,109,120],"precise":[15,68],"trajectory":[16],"tracking":[17],"of":[18,38,44,95,100,108,119],"DELTA":[20],"robot.":[21],"The":[22,98,117],"proposed":[23,110],"approach":[24],"integrates":[25],"fractional":[26,101],"calculus":[27,102],"with":[28],"Lyapunov":[29],"stability":[30],"theory":[31],"to":[32],"enhance":[33],"robustness":[35],"and":[36,47,81,92,115,131],"adaptability":[37,114],"controller":[40],"in":[41,103,134],"presence":[43],"system":[45,60,96],"uncertainties":[46],"external":[48],"disturbances.":[49],"Unlike":[50],"conventional":[51],"backstepping":[52],"controllers,":[53],"indirect":[55],"adaptive":[56],"mechanism":[57],"estimates":[58],"unknown":[59],"parameters":[61],"online,":[62],"improving":[63],"control":[64,121],"performance":[65,133],"without":[66],"requiring":[67],"dynamic":[69],"modeling.":[70],"In":[71],"robotic":[72,135],"systems,":[73],"accurately":[74],"capturing":[75],"inherent":[77],"viscoelasticity,":[78],"actuator":[79],"dynamics,":[80],"noninteger-order":[82],"behaviors":[83],"requires":[84],"fractional-order":[85],"modeling,":[86],"which":[87],"provides":[88],"more":[90],"realistic":[91],"flexible":[93],"representation":[94],"dynamics.":[97],"necessity":[99],"robotics":[104],"motivates":[105],"design":[107],"controller,":[111],"ensuring":[112],"better":[113],"robustness.":[116],"effectiveness":[118],"is":[123],"validated":[124],"through":[125],"simulation":[126],"results,":[127],"demonstrating":[128],"its":[129],"feasibility":[130],"improved":[132],"applications.":[136]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-15T00:00:00"}
