{"id":"https://openalex.org/W2904034397","doi":"https://doi.org/10.1109/ssd.2018.8570474","title":"Comparison of Two Techniques for Controlling the Parallel Robot Par4: CTC and SMC","display_name":"Comparison of Two Techniques for Controlling the Parallel Robot Par4: CTC and SMC","publication_year":2018,"publication_date":"2018-03-01","ids":{"openalex":"https://openalex.org/W2904034397","doi":"https://doi.org/10.1109/ssd.2018.8570474","mag":"2904034397"},"language":"en","primary_location":{"id":"doi:10.1109/ssd.2018.8570474","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2018.8570474","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Multi-Conference on Systems, Signals &amp; Devices (SSD)","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/A5030526839","display_name":"Sonda Abid Mhiri","orcid":"https://orcid.org/0000-0003-0469-0646"},"institutions":[{"id":"https://openalex.org/I142899784","display_name":"University of Sfax","ror":"https://ror.org/04d4sd432","country_code":"TN","type":"education","lineage":["https://openalex.org/I142899784"]}],"countries":["TN"],"is_corresponding":true,"raw_author_name":"Sonda Abid Mhiri","raw_affiliation_strings":["Laboratory of Sciences and Techniques of Automatic and Industrial Data, University of Sfax, Sfax, Tunisia"],"affiliations":[{"raw_affiliation_string":"Laboratory of Sciences and Techniques of Automatic and Industrial Data, University of Sfax, Sfax, Tunisia","institution_ids":["https://openalex.org/I142899784"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017286828","display_name":"Neila Mezghani Ben Romdhane","orcid":"https://orcid.org/0000-0002-5925-5783"},"institutions":[{"id":"https://openalex.org/I68916915","display_name":"University of Gab\u00e8s","ror":"https://ror.org/022efad20","country_code":"TN","type":"education","lineage":["https://openalex.org/I68916915"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Neila Mezghani Ben Romdhane","raw_affiliation_strings":["Laboratory of Sciences and Techniques of Automatic and Industrial Data, High Institute of Industrials systems Gabes, Tunisia"],"affiliations":[{"raw_affiliation_string":"Laboratory of Sciences and Techniques of Automatic and Industrial Data, High Institute of Industrials systems Gabes, Tunisia","institution_ids":["https://openalex.org/I68916915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112455548","display_name":"Tarak Damak","orcid":null},"institutions":[{"id":"https://openalex.org/I142899784","display_name":"University of Sfax","ror":"https://ror.org/04d4sd432","country_code":"TN","type":"education","lineage":["https://openalex.org/I142899784"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Tarak Damak","raw_affiliation_strings":["Laboratory of Sciences and Techniques of Automatic and Industrial Data, University of Sfax, Sfax, Tunisia"],"affiliations":[{"raw_affiliation_string":"Laboratory of Sciences and Techniques of Automatic and Industrial Data, University of Sfax, Sfax, Tunisia","institution_ids":["https://openalex.org/I142899784"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030526839"],"corresponding_institution_ids":["https://openalex.org/I142899784"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52628088,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1007","last_page":"1011"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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":0.9954000115394592,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9933000206947327,"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":0.7594143152236938},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6609885692596436},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.6334760189056396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6314336061477661},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6055867671966553},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5881346464157104},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.534525454044342},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5147385597229004},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5134447813034058},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4991030693054199},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41538625955581665},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35315757989883423},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23730069398880005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14462968707084656},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.05864676833152771}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7594143152236938},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6609885692596436},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.6334760189056396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6314336061477661},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6055867671966553},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5881346464157104},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.534525454044342},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5147385597229004},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5134447813034058},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4991030693054199},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41538625955581665},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35315757989883423},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23730069398880005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14462968707084656},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.05864676833152771},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssd.2018.8570474","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2018.8570474","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Multi-Conference on Systems, Signals &amp; Devices (SSD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.699999988079071,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W137734736","https://openalex.org/W1496777766","https://openalex.org/W1969140852","https://openalex.org/W1994615353","https://openalex.org/W2016650629","https://openalex.org/W2076406561","https://openalex.org/W2087383031","https://openalex.org/W2109067716","https://openalex.org/W2114268214","https://openalex.org/W2118766245","https://openalex.org/W2146475047","https://openalex.org/W2158972934","https://openalex.org/W2338368633","https://openalex.org/W2542562256","https://openalex.org/W2788936071","https://openalex.org/W3109741642","https://openalex.org/W6642712969","https://openalex.org/W6681686519"],"related_works":["https://openalex.org/W4251298892","https://openalex.org/W2356013541","https://openalex.org/W2385444679","https://openalex.org/W3133868776","https://openalex.org/W144391745","https://openalex.org/W2360644005","https://openalex.org/W2350667299","https://openalex.org/W2365027229","https://openalex.org/W4229851301","https://openalex.org/W2123479323"],"abstract_inverted_index":{"The":[0,86,101],"objective":[1],"of":[2,14,88,108,120],"this":[3],"paper":[4],"is":[5,31,38,45,58,65,72],"to":[6,40,74,111],"compare":[7],"the":[8,15,19,25,34,56,66,105,112,118],"performance":[9,87,107],"between":[10],"two":[11,90],"conventional":[12],"controllers":[13,91],"Par4":[16],"parallel":[17],"robot:":[18],"computed":[20],"torque":[21],"control":[22,28,41,75,116],"(CTC)":[23],"and":[24,51,62,70,78],"sliding":[26],"mode":[27],"(SMC).":[29],"CTC":[30,113],"considered":[32],"as":[33],"classic":[35],"controller":[36,69],"which":[37],"used":[39,73],"robots.":[42],"However,":[43],"it":[44,71],"not":[46],"robust":[47],"for":[48,114],"very":[49,79],"accurate":[50],"uncertain":[52],"systems.":[53],"Unlike":[54],"CTC,":[55],"SMC":[57,109],"a":[59],"robust,":[60],"precise":[61,77],"stable.":[63],"It":[64],"most":[67],"popular":[68],"non-linear,":[76],"quick":[80],"systems":[81],"like":[82],"robots":[83],"or":[84],"motors.":[85],"these":[89],"was":[92],"verified":[93],"using":[94,97],"simulation":[95,102],"results":[96,103],"MATLAB":[98],"/":[99],"SIMULINK.":[100],"show":[104],"superior":[106],"compared":[110],"position":[115],"in":[117],"presence":[119],"parameters.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
