{"id":"https://openalex.org/W7130400155","doi":"https://doi.org/10.1109/tencon66050.2025.11375150","title":"Modelling and Control of a 4-DOF Moving Base Manipulator","display_name":"Modelling and Control of a 4-DOF Moving Base Manipulator","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W7130400155","doi":"https://doi.org/10.1109/tencon66050.2025.11375150"},"language":null,"primary_location":{"id":"doi:10.1109/tencon66050.2025.11375150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon66050.2025.11375150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2025 - 2025 IEEE Region 10 Conference (TENCON)","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/A5126341321","display_name":"Aksa Santhosh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aksa Santhosh","raw_affiliation_strings":["College of Engineering Trivandrum,Department of Electrical Engineering,Trivandrum,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering Trivandrum,Department of Electrical Engineering,Trivandrum,India","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126349168","display_name":"Lal Priya P S","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lal Priya P S","raw_affiliation_strings":["College of Engineering Trivandrum,Department of Electrical Engineering,Trivandrum,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering Trivandrum,Department of Electrical Engineering,Trivandrum,India","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008540116","display_name":"Sneha Gajbhiye","orcid":"https://orcid.org/0000-0001-8635-8916"},"institutions":[{"id":"https://openalex.org/I4210113248","display_name":"Indian Institute of Technology Palakkad","ror":"https://ror.org/0264cg909","country_code":"IN","type":"facility","lineage":["https://openalex.org/I4210113248"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sneha Gajbhiye","raw_affiliation_strings":["IIT Palakkad,Department of Electrical Engineering,Palakkad,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIT Palakkad,Department of Electrical Engineering,Palakkad,India","institution_ids":["https://openalex.org/I4210113248"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"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":0.71449338,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"840","last_page":"844"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.3328999876976013,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.3328999876976013,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.28929999470710754,"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":0.1412000060081482,"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/mobile-manipulator","display_name":"Mobile manipulator","score":0.73089998960495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6967999935150146},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6492000222206116},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6078000068664551},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5314000248908997},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4934000074863434},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.43689998984336853},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.435699999332428},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4153999984264374}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.73089998960495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6967999935150146},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6492000222206116},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6420000195503235},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6078000068664551},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5314000248908997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5139999985694885},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4934000074863434},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.43689998984336853},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.435699999332428},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4153999984264374},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4104999899864197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4050000011920929},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.38580000400543213},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.36959999799728394},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.36570000648498535},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33959999680519104},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.3357999920845032},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.33559998869895935},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3334999978542328},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.33070001006126404},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3246000111103058},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.3100000023841858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2612999975681305},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tencon66050.2025.11375150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tencon66050.2025.11375150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TENCON 2025 - 2025 IEEE Region 10 Conference (TENCON)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1589063434","https://openalex.org/W2082881060","https://openalex.org/W2153961837","https://openalex.org/W2898747522","https://openalex.org/W3020360306","https://openalex.org/W3047214072","https://openalex.org/W4240172577","https://openalex.org/W4241100460","https://openalex.org/W4392388907"],"related_works":[],"abstract_inverted_index":{"Moving-base":[0],"robotic":[1,30],"manipulators":[2],"are":[3],"increasingly":[4],"utilized":[5],"in":[6,15,92,96,177],"various":[7],"industries":[8],"due":[9],"to":[10,79,108,137,163],"their":[11],"flexibility":[12],"and":[13,25,71,105,116,140,153,167,180],"adaptability":[14],"diverse":[16],"dynamic":[17,51,66,111],"environments.":[18],"This":[19],"work":[20],"focuses":[21],"on":[22,39],"the":[23,47,54,59,65,69,72,82,89,99,106,110,114,117,150,157,172,175],"modeling":[24],"control":[26,145,183],"of":[27,33,44,53,88,174],"a":[28,34,40,124],"4-DOF":[29,159],"manipulator":[31,37,55,70,118],"composed":[32],"planar":[35],"two-link":[36],"mounted":[38],"mobile":[41],"base":[42,115],"capable":[43],"translating":[45],"along":[46],"dual":[48],"axes.":[49],"The":[50,143],"behavior":[52],"is":[56,77,130,147,161,184],"derived":[57],"using":[58],"Euler-Lagrange":[60],"equation,":[61],"which":[62],"effectively":[63],"captures":[64],"coupling":[67],"between":[68,113],"base.":[73],"Additionally,":[74],"kinematic":[75],"analysis":[76],"conducted":[78],"accurately":[80],"determine":[81],"end-effector's":[83],"position":[84],"during":[85],"operation.":[86],"One":[87],"main":[90],"challenges":[91],"this":[93],"setup":[94],"lies":[95],"dealing":[97],"with":[98],"system's":[100],"nonlinear":[101],"characteristics,":[102],"external":[103,141],"disturbances,":[104],"need":[107],"manage":[109],"interactions":[112],"components.":[119],"To":[120],"address":[121],"these":[122],"challenges,":[123],"Sliding":[125],"Mode":[126],"Control":[127],"(SMC)":[128],"strategy":[129],"adopted,":[131],"chosen":[132],"for":[133],"its":[134],"well-known":[135],"resilience":[136],"system":[138,160],"uncertainties":[139],"perturbations.":[142],"proposed":[144],"framework":[146],"implemented":[148],"within":[149],"MATLAB":[151],"Simulink":[152],"Simscape":[154],"environments,":[155],"where":[156],"entire":[158],"modeled":[162],"reflect":[164],"realistic":[165],"dynamics":[166],"base-manipulator":[168],"interactions.":[169],"Through":[170],"simulation,":[171],"effectiveness":[173],"controller":[176],"achieving":[178],"robust":[179],"precise":[181],"motion":[182],"demonstrated.":[185]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-02-19T00:00:00"}
