{"id":"https://openalex.org/W3026942418","doi":"https://doi.org/10.1109/lra.2020.2996065","title":"Adaptive Fuzzy Sliding Mode Control for High-Precision Motion Tracking of a Multi-DOF Micro/Nano Manipulator","display_name":"Adaptive Fuzzy Sliding Mode Control for High-Precision Motion Tracking of a Multi-DOF Micro/Nano Manipulator","publication_year":2020,"publication_date":"2020-05-20","ids":{"openalex":"https://openalex.org/W3026942418","doi":"https://doi.org/10.1109/lra.2020.2996065","mag":"3026942418"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2996065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2996065","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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 Robotics and Automation Letters","raw_type":"journal-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/A5087467337","display_name":"Mohammadali Ghafarian","orcid":"https://orcid.org/0000-0003-4649-650X"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Mohammadali Ghafarian","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4649-650X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081891660","display_name":"Bijan Shirinzadeh","orcid":"https://orcid.org/0000-0001-8474-5445"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Bijan Shirinzadeh","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055884481","display_name":"Ammar Al-Jodah","orcid":"https://orcid.org/0000-0003-4536-1240"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ammar Al-Jodah","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4536-1240","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044288277","display_name":"Tilok Kumar Das","orcid":"https://orcid.org/0000-0001-8460-6533"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tilok Kumar Das","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8460-6533","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Robotics and Mechatronics Research Laboratory (RMRL), Monash University, Clayton, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087467337"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":4.6122,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.95199005,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"3","first_page":"4313","last_page":"4320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"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/T10379","display_name":"Cellular Mechanics and Interactions","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8835139274597168},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6055439114570618},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5957231521606445},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5855312347412109},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5393493175506592},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4942534267902374},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4912649989128113},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4849443733692169},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47059953212738037},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4576077163219452},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.45607900619506836},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4498825669288635},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4361937344074249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41769009828567505},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40159064531326294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16361254453659058},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13781720399856567},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11466646194458008},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08020612597465515},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.07083916664123535}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8835139274597168},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6055439114570618},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5957231521606445},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5855312347412109},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5393493175506592},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4942534267902374},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4912649989128113},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4849443733692169},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47059953212738037},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4576077163219452},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.45607900619506836},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4498825669288635},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4361937344074249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41769009828567505},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40159064531326294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16361254453659058},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13781720399856567},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11466646194458008},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08020612597465515},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.07083916664123535},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2996065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2996065","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W54179215","https://openalex.org/W1569189826","https://openalex.org/W1986594004","https://openalex.org/W1999917921","https://openalex.org/W2001491258","https://openalex.org/W2014348636","https://openalex.org/W2057777165","https://openalex.org/W2066517843","https://openalex.org/W2095145633","https://openalex.org/W2109095767","https://openalex.org/W2123172242","https://openalex.org/W2130274074","https://openalex.org/W2135227561","https://openalex.org/W2190262366","https://openalex.org/W2259065574","https://openalex.org/W2299686773","https://openalex.org/W2346436209","https://openalex.org/W2430488233","https://openalex.org/W2559858262","https://openalex.org/W2590636851","https://openalex.org/W2756801245","https://openalex.org/W2768157562","https://openalex.org/W2809844233","https://openalex.org/W2890468921","https://openalex.org/W2895309741","https://openalex.org/W2904999313","https://openalex.org/W2906682839","https://openalex.org/W2948139408","https://openalex.org/W2957461748","https://openalex.org/W2980256209","https://openalex.org/W2998418550"],"related_works":["https://openalex.org/W2372856383","https://openalex.org/W2015036175","https://openalex.org/W1934622834","https://openalex.org/W2117379282","https://openalex.org/W2210722882","https://openalex.org/W2005085248","https://openalex.org/W2534107666","https://openalex.org/W1973429430","https://openalex.org/W1989996768","https://openalex.org/W2354493725"],"abstract_inverted_index":{"This":[0,14],"letter":[1],"introduces":[2],"a":[3,58,115,168],"robust":[4],"adaptive":[5],"control":[6,16,33,68,77,110,118,156,170],"methodology":[7,34],"for":[8,20,72,99],"piezo-actuated":[9],"flexure-based":[10],"micro/nano":[11,62,147],"manipulation":[12],"mechanisms.":[13],"special":[15],"approach":[17,157],"is":[18,35,70,112,128,139],"established":[19],"tracking":[21,122,161,164],"of":[22,57,75,102,124],"the":[23,32,41,48,55,73,76,88,94,100,106,125,142,150,154],"desired":[24],"complex":[25],"motion":[26,56,160],"trajectories":[27],"with":[28],"system":[29,42,95],"uncertainties.":[30],"Further,":[31],"formulated":[36],"to":[37,92,167],"accommodate":[38],"not":[39],"only":[40],"uncertainties":[43,96],"but":[44],"also":[45],"nonlinearities":[46],"including":[47],"hysteresis":[49],"effect":[50,101],"and":[51,83,97,149,162],"external":[52],"disturbances":[53],"in":[54,87,105],"3-degrees-of-freedom":[59],"(3-DOF)":[60],"XYZ":[61],"manipulator.":[63],"Adaptive":[64],"fuzzy":[65,80],"sliding":[66,116],"mode":[67,117],"(AFSMC)":[69],"developed":[71],"formulation":[74],"methodology.":[78],"The":[79,108,120],"logic":[81],"component":[82],"adaptation":[84],"law":[85],"employed":[86],"controller":[89,127],"are":[90],"used":[91],"approximate":[93],"compensate":[98],"nonlinear":[103],"terms":[104],"system.":[107],"resulting":[109],"strategy":[111],"devised":[113],"using":[114,131],"scheme.":[119],"asymptotic":[121],"ability":[123],"designed":[126,155],"proved":[129],"by":[130],"Lyapunov-based":[132],"stability":[133],"analysis.":[134],"Furthermore,":[135],"an":[136],"experimental":[137],"study":[138],"performed":[140],"on":[141],"3-DOF":[143],"compliant":[144],"monolithic":[145],"parallel":[146],"manipulator":[148],"results":[151],"confirm":[152],"that":[153],"produces":[158],"high-precision":[159],"smaller":[163],"errors":[165],"compared":[166],"model-free":[169],"technique,":[171],"i.e.":[172],"Proportional-Integral-Derivative":[173],"(PID)":[174],"controller.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
