{"id":"https://openalex.org/W3206521341","doi":"https://doi.org/10.1155/2021/5542888","title":"Artificial Fuzzy\u2010PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms","display_name":"Artificial Fuzzy\u2010PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3206521341","doi":"https://doi.org/10.1155/2021/5542888","mag":"3206521341","pmid":"https://pubmed.ncbi.nlm.nih.gov/34707650"},"language":"en","primary_location":{"id":"doi:10.1155/2021/5542888","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/5542888","pdf_url":"https://downloads.hindawi.com/journals/cin/2021/5542888.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/cin/2021/5542888.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006222060","display_name":"Najah Yousfi Allagui","orcid":"https://orcid.org/0000-0002-4918-212X"},"institutions":[{"id":"https://openalex.org/I179331831","display_name":"Taif University","ror":"https://ror.org/014g1a453","country_code":"SA","type":"education","lineage":["https://openalex.org/I179331831"]}],"countries":["SA"],"is_corresponding":true,"raw_author_name":"Najah Yousfi Allagui","raw_affiliation_strings":["Industrial Engineering Department, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-4918-212X","affiliations":[{"raw_affiliation_string":"Industrial Engineering Department, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia","institution_ids":["https://openalex.org/I179331831"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056588565","display_name":"Farhan A. Salem","orcid":"https://orcid.org/0000-0002-3849-2405"},"institutions":[{"id":"https://openalex.org/I179331831","display_name":"Taif University","ror":"https://ror.org/014g1a453","country_code":"SA","type":"education","lineage":["https://openalex.org/I179331831"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Farhan A. Salem","raw_affiliation_strings":["Industrial Engineering Department, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-3849-2405","affiliations":[{"raw_affiliation_string":"Industrial Engineering Department, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia","institution_ids":["https://openalex.org/I179331831"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076775181","display_name":"Awad M. Aljuaid","orcid":"https://orcid.org/0000-0002-3793-4814"},"institutions":[{"id":"https://openalex.org/I179331831","display_name":"Taif University","ror":"https://ror.org/014g1a453","country_code":"SA","type":"education","lineage":["https://openalex.org/I179331831"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Awad M. Aljuaid","raw_affiliation_strings":["Industrial Engineering Department, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0002-3793-4814","affiliations":[{"raw_affiliation_string":"Industrial Engineering Department, College of Engineering, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia","institution_ids":["https://openalex.org/I179331831"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006222060"],"corresponding_institution_ids":["https://openalex.org/I179331831"],"apc_list":{"value":2100,"currency":"USD","value_usd":2100},"apc_paid":{"value":2100,"currency":"USD","value_usd":2100},"fwci":0.9714,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.75628885,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2021","issue":"1","first_page":"5542888","last_page":"5542888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9968000054359436,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9968000054359436,"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":0.9965999722480774,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9948999881744385,"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/pid-controller","display_name":"PID controller","score":0.7460172176361084},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7317173480987549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6523715853691101},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.5778850317001343},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5481153726577759},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5341500043869019},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46275898814201355},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.45165032148361206},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4343682825565338},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.42355653643608093},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4185529947280884},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3817521929740906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31097814440727234},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.2062763273715973},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1914798617362976},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13544458150863647},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.08573752641677856}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7460172176361084},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7317173480987549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6523715853691101},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.5778850317001343},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5481153726577759},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5341500043869019},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46275898814201355},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.45165032148361206},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4343682825565338},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.42355653643608093},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4185529947280884},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3817521929740906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31097814440727234},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.2062763273715973},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1914798617362976},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13544458150863647},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.08573752641677856},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.1155/2021/5542888","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/5542888","pdf_url":"https://downloads.hindawi.com/journals/cin/2021/5542888.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},{"id":"pmid:34707650","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34707650","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational intelligence and neuroscience","raw_type":null},{"id":"pmh:oai:doaj.org/article:d1d1e93c8a5f4285ad99bdf693718ada","is_oa":true,"landing_page_url":"https://doaj.org/article/d1d1e93c8a5f4285ad99bdf693718ada","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computational Intelligence and Neuroscience, Vol 2021 (2021)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:7433678","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC8545591","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8545591","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8545591","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Comput Intell Neurosci","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1155/2021/5542888","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/5542888","pdf_url":"https://downloads.hindawi.com/journals/cin/2021/5542888.pdf","source":{"id":"https://openalex.org/S72372694","display_name":"Computational Intelligence and Neuroscience","issn_l":"1687-5265","issn":["1687-5265","1687-5273"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computational Intelligence and Neuroscience","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7205854134","display_name":null,"funder_award_id":"TURSP-2020/229","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"},{"id":"https://openalex.org/G7299194679","display_name":null,"funder_award_id":"TURSP-2020","funder_id":"https://openalex.org/F4320323722","funder_display_name":"Taif University"}],"funders":[{"id":"https://openalex.org/F4320323722","display_name":"Taif University","ror":"https://ror.org/014g1a453"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3206521341.pdf","grobid_xml":"https://content.openalex.org/works/W3206521341.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1878022974","https://openalex.org/W2005454821","https://openalex.org/W2115378073","https://openalex.org/W2170118630","https://openalex.org/W2338176262","https://openalex.org/W2513016052","https://openalex.org/W2893707157","https://openalex.org/W2905341249","https://openalex.org/W2929849685","https://openalex.org/W3005549693","https://openalex.org/W3017006675","https://openalex.org/W3024337024","https://openalex.org/W3084847794","https://openalex.org/W3120091676","https://openalex.org/W3159112629","https://openalex.org/W3185047528","https://openalex.org/W3188948186"],"related_works":["https://openalex.org/W4377820486","https://openalex.org/W2132353065","https://openalex.org/W4377825843","https://openalex.org/W4293868274","https://openalex.org/W2889951799","https://openalex.org/W2626571124","https://openalex.org/W4386412075","https://openalex.org/W2381304112","https://openalex.org/W4389515241","https://openalex.org/W2962749641"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"are":[2,6,37,119],"promising":[3],"devices":[4],"which":[5,59,118],"dedicated":[7],"to":[8,28,90,121,155,175,216],"human":[9],"comfort":[10],"in":[11,40,69,79,83,180],"all":[12],"areas.":[13],"However,":[14],"the":[15,19,29,32,47,63,92,106,141,145,159,177],"control":[16,58,72,82,130],"algorithm":[17,131,211],"of":[18,21,50,65,94,97,182,201],"wheels":[20],"mobile":[22,99,205,218],"robot":[23,100,206,219],"is":[24,60,74,101,109,132,173,207,212],"entirely":[25],"challenging":[26,88],"due":[27],"nonlinearity.":[30],"Recently,":[31],"classical":[33],"PID":[34,116,160],"(proportional-integral-derivative)":[35],"controllers":[36,117],"frequently":[38],"used":[39,77,154],"robotics":[41],"for":[42],"their":[43,51],"high":[44],"accuracy":[45],"and":[46,125,137,149,157,165,185,189,196,214],"smooth":[48],"determination":[49],"parameters.":[52],"A":[53,86,128,172,199],"robust":[54],"approach":[55],"called":[56],"fuzzy":[57,114],"based":[61,110],"on":[62,111],"conversion":[64],"linguistic":[66],"inference":[67],"sets":[68],"a":[70,75,169,202],"suitable":[71],"value":[73,171],"widely":[76],"method":[78,89],"industrial":[80],"system":[81,146],"our":[84],"days.":[85],"new":[87],"solve":[91],"problem":[93],"intelligent":[95],"navigation":[96],"nonholonomic":[98],"suggested.":[102],"In":[103],"this":[104,217],"work,":[105],"presented":[107],"methodology":[108],"three":[112],"hybrid":[113],"logic":[115],"adapted":[120],"guarantee":[122],"target":[123],"achievement":[124],"trajectory":[126],"tracking.":[127],"fuzzy-PID":[129],"designed":[133],"with":[134],"2":[135],"inputs":[136],"3":[138],"outputs.":[139],"By":[140],"information":[142],"given":[143],"by":[144],"response,":[147],"error":[148,150],"derivate":[151],"can":[152],"be":[153],"extract":[156],"adopt":[158],"controller":[161],"parameters:":[162],"proportional,":[163],"integral,":[164],"derivative":[166],"gains.":[167],"Besides,":[168],"tuning":[170],"introduced":[174],"improve":[176],"resulted":[178],"response":[179],"terms":[181],"speeding":[183],"up":[184],"reducing":[186,194],"error,":[187],"overshoot,":[188],"oscillation,":[190],"as":[191,193],"well":[192],"ISE":[195],"IAE":[197],"values.":[198],"modelization":[200],"differential":[203],"drive":[204],"presented.":[208],"The":[209],"developed":[210],"tested":[213],"implemented":[215],"model":[220],"via":[221],"Simulink/MATLAB.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2021-10-25T00:00:00"}