{"id":"https://openalex.org/W2162338246","doi":"https://doi.org/10.1109/icsmc.2009.5346112","title":"Stable fuzzy self-tuning PID control of robot manipulators","display_name":"Stable fuzzy self-tuning PID control of robot manipulators","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2162338246","doi":"https://doi.org/10.1109/icsmc.2009.5346112","mag":"2162338246"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2009.5346112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2009.5346112","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Systems, Man and Cybernetics","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/A5033392300","display_name":"Jos\u00e9 Luis Meza-Medina","orcid":"https://orcid.org/0000-0001-5542-5549"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"J.L. Meza","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de la Laguna, Torreon, Coahuila, Mexico"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de la Laguna, Torreon, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007101144","display_name":"V\u00edctor Santib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0002-0870-8615"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V. Santibanez","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de la Laguna, Torreon, Coahuila, Mexico"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de la Laguna, Torreon, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036551634","display_name":"Rogelio Soto","orcid":"https://orcid.org/0000-0001-7981-0513"},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Soto","raw_affiliation_strings":["Campus Monterrey, ITESM, Monterrey, Nuevo Leon, Mexico"],"affiliations":[{"raw_affiliation_string":"Campus Monterrey, ITESM, Monterrey, Nuevo Leon, Mexico","institution_ids":["https://openalex.org/I98461037"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059935054","display_name":"Miguel A. Llama","orcid":"https://orcid.org/0000-0002-6280-0981"},"institutions":[{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4413696010"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"M.A. Llama","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de la Laguna, Torreon, Coahuila, Mexico"],"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de la Laguna, Torreon, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033392300"],"corresponding_institution_ids":["https://openalex.org/I4210095469"],"apc_list":null,"apc_paid":null,"fwci":3.0617,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.92336067,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2624","last_page":"2629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9983000159263611,"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":0.8845245838165283},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.8072436451911926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5458477139472961},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5376099348068237},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5360066890716553},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.510866105556488},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4795931875705719},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4667259752750397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4616175591945648},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4600202441215515},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4546149969100952},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4541926980018616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3399534523487091},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24644407629966736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1844295859336853},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08072477579116821},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.07986569404602051},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07216092944145203}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8845245838165283},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8072436451911926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5458477139472961},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5376099348068237},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5360066890716553},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.510866105556488},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4795931875705719},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4667259752750397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4616175591945648},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4600202441215515},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4546149969100952},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4541926980018616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3399534523487091},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24644407629966736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1844295859336853},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08072477579116821},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.07986569404602051},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07216092944145203},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2009.5346112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2009.5346112","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W246666880","https://openalex.org/W1488435683","https://openalex.org/W1491865100","https://openalex.org/W1509235676","https://openalex.org/W1553483187","https://openalex.org/W1977260494","https://openalex.org/W1988252227","https://openalex.org/W2005249374","https://openalex.org/W2021915659","https://openalex.org/W2032008743","https://openalex.org/W2033880740","https://openalex.org/W2071323951","https://openalex.org/W2123623267","https://openalex.org/W2127161205","https://openalex.org/W2152678206","https://openalex.org/W2155029638","https://openalex.org/W2610857016","https://openalex.org/W4248528645"],"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/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W3101820272"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5,18,27,52,91],"fuzzy":[6],"self-tuning":[7],"algorithm":[8],"to":[9,22,72],"select":[10],"the":[11,23,36,59,65,68,99,102],"Proportional,":[12],"Integral":[13],"and":[14,44],"Derivative":[15],"gains":[16],"of":[17,26,54,67,82,94,101],"PID":[19,69],"controller":[20],"according":[21],"actual":[24,77],"state":[25],"robotic":[28],"manipulator.":[29],"The":[30],"stability":[31],"via":[32],"Lyapunov":[33],"theory":[34],"for":[35,51],"closed":[37],"loop":[38],"control":[39,70],"system":[40],"is":[41,47],"also":[42],"analyzed":[43],"shown":[45,98],"that":[46],"locally":[48],"asymptotically":[49],"stable":[50],"class":[53],"gain":[55],"matrices":[56],"depending":[57],"on":[58,90],"manipulator":[60],"states.":[61],"This":[62],"feature":[63],"increases":[64],"potential":[66],"scheme":[71],"handle":[73],"practical":[74],"constraints":[75],"in":[76],"robots":[78],"such":[79],"as":[80],"presence":[81],"actuators":[83],"with":[84],"limited":[85],"torque":[86],"capabilities.":[87],"Experimental":[88],"results":[89],"two":[92],"degrees":[93],"freedom":[95],"robot":[96],"arm":[97],"usefulness":[100],"proposed":[103],"approach.":[104]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
