{"id":"https://openalex.org/W4416429348","doi":"https://doi.org/10.1109/tie.2025.3626667","title":"Design and Validation of a Fuzzy Logic Controller for Multisection Continuum Robots","display_name":"Design and Validation of a Fuzzy Logic Controller for Multisection Continuum Robots","publication_year":2025,"publication_date":"2025-11-20","ids":{"openalex":"https://openalex.org/W4416429348","doi":"https://doi.org/10.1109/tie.2025.3626667"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3626667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3626667","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://nottingham-repository.worktribe.com/output/56966896","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039033714","display_name":"Jing Liu","orcid":"https://orcid.org/0009-0002-0094-5939"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jing Liu","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0009-0002-0094-5939","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082638352","display_name":"Tianyi Zeng","orcid":"https://orcid.org/0000-0001-8551-0832"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tianyi Zeng","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8551-0832","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059324003","display_name":"Abdelkhalick Mohammad","orcid":"https://orcid.org/0000-0001-7623-125X"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Abdelkhalick Mohammad","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7623-125X","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015263836","display_name":"Drago\u015f Axinte","orcid":"https://orcid.org/0000-0002-3595-0933"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dragos Axinte","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3595-0933","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087034933","display_name":"Xin Dong","orcid":"https://orcid.org/0000-0001-9337-9379"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xin Dong","raw_affiliation_strings":["Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9337-9379","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"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":0.29195034,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"3","first_page":"4460","last_page":"4471"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9758999943733215,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9758999943733215,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.004900000058114529,"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":0.0024999999441206455,"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/robustness","display_name":"Robustness (evolution)","score":0.7943000197410583},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7289999723434448},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6463000178337097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5806999802589417},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4629000127315521},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4620000123977661}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7943000197410583},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7289999723434448},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6463000178337097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5806999802589417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5390999913215637},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5389000177383423},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4629000127315521},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4620000123977661},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4357999861240387},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.31630000472068787},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.301800012588501},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2904999852180481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2827000021934509}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2025.3626667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3626667","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:nottingham-repository.worktribe.com:56966896","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/56966896","pdf_url":null,"source":{"id":"https://openalex.org/S4306402481","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:nottingham-repository.worktribe.com:56966896","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/56966896","pdf_url":null,"source":{"id":"https://openalex.org/S4306402481","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,117],"rise":[1],"of":[2,23,70,93,126,156],"multisection":[3],"continuum":[4,71,134],"robots":[5],"(CRs)":[6],"has":[7],"captivated":[8],"researchers":[9],"and":[10,15,25,33,51,96,113,124],"practitioners":[11],"across":[12],"diverse":[13],"industries":[14],"medical":[16],"fields.":[17],"Researchers":[18],"have":[19],"devised":[20],"a":[21,58,76,131,138],"spectrum":[22],"model-based":[24],"learning-based":[26],"strategies":[27],"to":[28,85,105,148,154],"conquer":[29],"the":[30,38,67,91,122,127,157,161,172],"modeling":[31],"problem":[32],"elevate":[34],"control":[35,69,88],"performance.":[36],"Despite":[37],"advancements":[39],"in":[40],"these":[41],"approaches,":[42],"they":[43],"encounter":[44],"challenges":[45],"stemming":[46],"from":[47,146],"their":[48],"complex":[49],"design":[50],"intricate":[52],"learning":[53],"processes.":[54],"This":[55,73,81],"article":[56],"introduces":[57],"simply":[59],"structured,":[60],"model-free":[61],"fuzzy":[62],"logic":[63],"controller":[64,74,162],"(FLC)":[65],"for":[66],"closed-loop":[68],"robots.":[72],"boasts":[75],"built-in":[77],"shape":[78],"classification":[79],"algorithm.":[80],"algorithm":[82],"allows":[83],"it":[84,136],"achieve":[86],"robust":[87],"using":[89],"only":[90],"feedback":[92],"end":[94],"position":[95],"orientation,":[97],"significantly":[98],"reducing":[99],"sensor":[100],"dependence.":[101],"It":[102],"efficiently":[103],"adapts":[104],"various":[106],"nonlinearities":[107],"such":[108],"as":[109],"hysteresis,":[110],"cable":[111],"elongation,":[112],"unexpected":[114,168],"external":[115,169],"disturbances.":[116],"experimental":[118],"results":[119],"conclusively":[120],"demonstrate":[121],"accuracy":[123],"robustness":[125,164],"proposed":[128],"FLC.":[129],"On":[130],"three-section,":[132],"six-degree-of-freedom":[133],"robot,":[135],"achieved":[137],"minuscule":[139],"trajectory":[140,173],"tracking":[141],"root":[142],"mean":[143],"square":[144],"error":[145],"0.31":[147],"1.00":[149],"mm,":[150],"representing":[151],"just":[152],"0.19%":[153],"0.60%":[155],"robot\u2019s":[158],"length.":[159],"Additionally,":[160],"demonstrates":[163],"by":[165],"successfully":[166],"handling":[167],"disturbances":[170],"during":[171],"tracking.":[174]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-20T00:00:00"}