{"id":"https://openalex.org/W4313496269","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995744","title":"Tuning of FP-PID Controller based on PSO Algorithm Applied to a Human Gait","display_name":"Tuning of FP-PID Controller based on PSO Algorithm Applied to a Human Gait","publication_year":2022,"publication_date":"2022-10-18","ids":{"openalex":"https://openalex.org/W4313496269","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995744"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5048200602","display_name":"Rodrigo B. de Medeiros","orcid":null},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Rodrigo B. de Medeiros","raw_affiliation_strings":["University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil","Department of Mechanical Engineering, Mechatronics Graduate Program, Automation and Control Group/GRACO, University of Brasilia, Brasilia, DF, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil","institution_ids":["https://openalex.org/I150729083"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Mechatronics Graduate Program, Automation and Control Group/GRACO, University of Brasilia, Brasilia, DF, Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050811383","display_name":"Daniel M. Mu\u00f1oz","orcid":"https://orcid.org/0000-0002-9219-6463"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel M. Munoz","raw_affiliation_strings":["University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil","Department of Mechanical Engineering, Mechatronics Graduate Program, Automation and Control Group/GRACO, University of Brasilia, Brasilia, DF, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil","institution_ids":["https://openalex.org/I150729083"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Mechatronics Graduate Program, Automation and Control Group/GRACO, University of Brasilia, Brasilia, DF, Brazil","institution_ids":["https://openalex.org/I150729083"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150729083"],"apc_list":null,"apc_paid":null,"fwci":0.4891,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.65372187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9843000173568726,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9843000173568726,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9763000011444092,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.8023337721824646},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7697478532791138},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.742041289806366},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6267749071121216},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5516881346702576},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5147183537483215},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4849882125854492},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4787789583206177},{"id":"https://openalex.org/keywords/mimo","display_name":"MIMO","score":0.47045862674713135},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43527549505233765},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4316672682762146},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3526451587677002},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24268224835395813},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22568780183792114},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13989895582199097},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.09200415015220642}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8023337721824646},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7697478532791138},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.742041289806366},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6267749071121216},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5516881346702576},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5147183537483215},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4849882125854492},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4787789583206177},{"id":"https://openalex.org/C207987634","wikidata":"https://www.wikidata.org/wiki/Q176862","display_name":"MIMO","level":3,"score":0.47045862674713135},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43527549505233765},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4316672682762146},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3526451587677002},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24268224835395813},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22568780183792114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13989895582199097},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.09200415015220642},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/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},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1586104854","https://openalex.org/W2017104425","https://openalex.org/W2091485446","https://openalex.org/W2110808184","https://openalex.org/W2152195021","https://openalex.org/W2489114906","https://openalex.org/W2562478205","https://openalex.org/W2624304305","https://openalex.org/W2839319602","https://openalex.org/W2938398585","https://openalex.org/W3005276695","https://openalex.org/W3007437250","https://openalex.org/W3040736388","https://openalex.org/W3094565924","https://openalex.org/W3217686117"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W2023324176","https://openalex.org/W2121097709","https://openalex.org/W2393592727","https://openalex.org/W2153629532","https://openalex.org/W2368034024"],"abstract_inverted_index":{"Robotic":[0],"manipulators":[1],"are":[2,18,35],"multi-input":[3],"multi-output":[4],"(MIMO)":[5],"systems":[6],"with":[7,52,111],"nonlinear":[8],"points":[9],"affected":[10],"by":[11,59,142],"numerous":[12],"uncertainties":[13],"and":[14,25,40,93,116],"disturbances.":[15],"PID":[16,48,126],"controllers":[17],"widely":[19],"used":[20],"in":[21,128],"industry":[22],"for":[23],"kinematic":[24],"dynamic":[26],"control.":[27],"However,":[28],"when":[29],"applied":[30],"to":[31,38,67,96,123,144],"MIMO":[32],"systems,":[33],"they":[34],"not":[36],"easy":[37],"tune":[39],"require":[41],"performance":[42],"improvements.":[43],"In":[44],"this":[45],"work,":[46],"a":[47,53,68,76,129],"controller":[49],"is":[50],"proposed":[51],"fuzzy":[54,121],"precompensator":[55,122],"(FP-PID),":[56],"both":[57],"tuned":[58],"the":[60,81,98,102,108,117,120,124,132,139],"bioinspired":[61],"particle":[62],"swarm":[63],"optimization":[64],"(PSO)":[65],"algorithm":[66,110],"two-degree":[69],"of":[70,86,101,107,119,131,136,138],"freedom":[71],"(2-DOF)":[72],"robotic":[73],"manipulator":[74,140],"representing":[75],"human":[77,87],"leg.":[78],"To":[79],"validate":[80],"system,":[82],"two":[83],"real":[84],"datasets":[85],"gait":[88],"were":[89],"used:":[90],"normal":[91],"walking":[92],"stair":[94],"climbing":[95],"estimate":[97],"error":[99,135],"trajectory":[100],"manipulator.":[103],"The":[104],"statistical":[105],"analysis":[106],"PSO":[109],"16":[112],"experiments":[113],"was":[114],"satisfactory,":[115],"addition":[118],"conventional":[125],"resulted":[127],"reduction":[130],"mean":[133],"square":[134],"one":[137],"links":[141],"up":[143],"73":[145],"percent.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}