{"id":"https://openalex.org/W4312477941","doi":"https://doi.org/10.1109/iros47612.2022.9981438","title":"Magnetic microrobot control using an adaptive fuzzy sliding-mode method","display_name":"Magnetic microrobot control using an adaptive fuzzy sliding-mode method","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312477941","doi":"https://doi.org/10.1109/iros47612.2022.9981438"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981438","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5003699159","display_name":"Alireza Mousavi","orcid":"https://orcid.org/0000-0003-0360-2712"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]},{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["GB","IR"],"is_corresponding":false,"raw_author_name":"Alireza Mousavi","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex,Colchester,UK,C04 3SQ","Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex,Colchester,UK,C04 3SQ","institution_ids":["https://openalex.org/I110002522"]},{"raw_affiliation_string":"Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006501639","display_name":"Hesam Khaksar","orcid":"https://orcid.org/0000-0003-4137-9654"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hesam Khaksar","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex,Colchester,UK,C04 3SQ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex,Colchester,UK,C04 3SQ","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004180659","display_name":"Awais Ahmed","orcid":"https://orcid.org/0000-0001-6917-8657"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Awais Ahmed","raw_affiliation_strings":["Daegu Gyeongbuk Institute of Science and Technology,DGIST-ETH Microrobot Research Center,Department of Robotics Engineering,Daegu,South Korea,42988"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daegu Gyeongbuk Institute of Science and Technology,DGIST-ETH Microrobot Research Center,Department of Robotics Engineering,Daegu,South Korea,42988","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049946358","display_name":"Hongsoo Choi","orcid":"https://orcid.org/0000-0003-3613-2833"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hongsoo Choi","raw_affiliation_strings":["Daegu Gyeongbuk Institute of Science and Technology,DGIST-ETH Microrobot Research Center,Department of Robotics Engineering,Daegu,South Korea,42988"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daegu Gyeongbuk Institute of Science and Technology,DGIST-ETH Microrobot Research Center,Department of Robotics Engineering,Daegu,South Korea,42988","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038414088","display_name":"Ali Kafash Hoshiar","orcid":"https://orcid.org/0000-0002-0561-5018"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ali Kafash Hoshiar","raw_affiliation_strings":["School of Computer Science and Electronic Engineering, University of Essex,Colchester,UK,C04 3SQ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Electronic Engineering, University of Essex,Colchester,UK,C04 3SQ","institution_ids":["https://openalex.org/I110002522"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5488,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90464548,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6484","last_page":"6489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9945999979972839,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9794999957084656,"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":0.7454625964164734},{"id":"https://openalex.org/keywords/lemma","display_name":"Lemma (botany)","score":0.6164743304252625},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.573762834072113},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5687991976737976},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5624487400054932},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48721736669540405},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4833540618419647},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.47830086946487427},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.475658118724823},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4605189561843872},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43041807413101196},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37332749366760254},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2364952266216278},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19439426064491272},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08498185873031616}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7454625964164734},{"id":"https://openalex.org/C2777759810","wikidata":"https://www.wikidata.org/wiki/Q149316","display_name":"Lemma (botany)","level":3,"score":0.6164743304252625},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.573762834072113},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5687991976737976},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5624487400054932},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48721736669540405},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4833540618419647},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.47830086946487427},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.475658118724823},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4605189561843872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43041807413101196},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37332749366760254},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2364952266216278},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19439426064491272},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08498185873031616},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C46757340","wikidata":"https://www.wikidata.org/wiki/Q43238","display_name":"Poaceae","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981438","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.essex.ac.uk:34624","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401236","display_name":"Open Access at Essex (University of Essex)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I110002522","host_organization_name":"University of Essex","host_organization_lineage":["https://openalex.org/I110002522"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1987336727","https://openalex.org/W2002041997","https://openalex.org/W2012099298","https://openalex.org/W2028341476","https://openalex.org/W2030959268","https://openalex.org/W2051194933","https://openalex.org/W2084829069","https://openalex.org/W2088308749","https://openalex.org/W2105149720","https://openalex.org/W2126336346","https://openalex.org/W2137815193","https://openalex.org/W2142423459","https://openalex.org/W2163252428","https://openalex.org/W2169560201","https://openalex.org/W2214574468","https://openalex.org/W2412552784","https://openalex.org/W2461461899","https://openalex.org/W2477552624","https://openalex.org/W2791351912","https://openalex.org/W2893561280","https://openalex.org/W2896049741","https://openalex.org/W2899142903","https://openalex.org/W2947789325","https://openalex.org/W2952039813","https://openalex.org/W2960639179","https://openalex.org/W2965740025","https://openalex.org/W3001194984","https://openalex.org/W3010276891","https://openalex.org/W3015147753","https://openalex.org/W3034511410","https://openalex.org/W3108780441"],"related_works":["https://openalex.org/W2735398992","https://openalex.org/W1984208188","https://openalex.org/W2372856383","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2117379282","https://openalex.org/W2005085248","https://openalex.org/W2534107666","https://openalex.org/W2210722882","https://openalex.org/W1973429430"],"abstract_inverted_index":{"The":[0,84],"magnetic":[1],"medical":[2],"microrobots":[3,77],"are":[4],"influenced":[5],"by":[6],"diverse":[7],"factors":[8],"such":[9],"as":[10],"the":[11,13,16,19,27,42,57,69,74,110,114,121,131,134],"medium,":[12],"geometry":[14],"of":[15,41,73,80,88,133],"microrobot,":[17],"and":[18,100,124],"imaging":[20],"procedure.":[21],"It":[22],"is":[23,66,117,141],"worth":[24],"noting":[25],"that":[26],"size":[28],"limitations":[29],"make":[30],"it":[31],"difficult":[32],"or":[33],"even":[34],"impossible":[35],"to":[36,47,93,109,129],"obtain":[37],"reliable":[38],"physical":[39],"properties":[40],"system.":[43],"In":[44,127],"this":[45],"research,":[46],"achieve":[48],"a":[49,89,101,137],"precise":[50],"microrobot":[51],"control":[52,71],"using":[53],"minimum":[54],"knowledge":[55],"about":[56],"system,":[58],"an":[59,95],"Adaptive":[60],"Fuzzy":[61],"Sliding-Mode":[62],"Control":[63],"(AFSMC)":[64],"scheme":[65],"designed":[67,92,111],"for":[68,105],"motion":[70],"problem":[72],"magnetically":[75],"actuated":[76],"in":[78],"presence":[79],"input":[81,86],"saturation":[82],"constraint.":[83],"AFSMC":[85],"consists":[87],"fuzzy":[90],"system":[91,99],"approximate":[94],"unknown":[96],"nonlinear":[97],"dynamical":[98],"robust":[102],"term":[103],"considered":[104],"mismatch":[106],"compensation.":[107],"According":[108],"adaptation":[112],"laws,":[113],"asymptotic":[115],"stability":[116],"proved":[118],"based":[119],"on":[120],"Lyapunov":[122],"theorem":[123],"Barbalat's":[125],"lemma.":[126],"order":[128],"evaluate":[130],"effectiveness":[132],"proposed":[135],"method,":[136],"comparative":[138],"simulation":[139],"study":[140],"conducted.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
