{"id":"https://openalex.org/W4416234097","doi":"https://doi.org/10.3390/robotics14110165","title":"Design an Adaptive PID Control Based on RLS with a Variable Forgetting Factor for a Reconfigurable Cable-Driven Parallel Mechanism","display_name":"Design an Adaptive PID Control Based on RLS with a Variable Forgetting Factor for a Reconfigurable Cable-Driven Parallel Mechanism","publication_year":2025,"publication_date":"2025-11-11","ids":{"openalex":"https://openalex.org/W4416234097","doi":"https://doi.org/10.3390/robotics14110165"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14110165","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14110165","pdf_url":"https://www.mdpi.com/2218-6581/14/11/165/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/14/11/165/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079333624","display_name":"Elham Khoshbin","orcid":"https://orcid.org/0000-0003-2466-9940"},"institutions":[{"id":"https://openalex.org/I104914703","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi","ror":"https://ror.org/00y3hzd62","country_code":"CA","type":"education","lineage":["https://openalex.org/I104914703","https://openalex.org/I49663120"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Elham Khoshbin","raw_affiliation_strings":["Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2466-9940","affiliations":[{"raw_affiliation_string":"Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada","institution_ids":["https://openalex.org/I104914703"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046965972","display_name":"Martin J.-D. Otis","orcid":"https://orcid.org/0000-0002-8763-0536"},"institutions":[{"id":"https://openalex.org/I104914703","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi","ror":"https://ror.org/00y3hzd62","country_code":"CA","type":"education","lineage":["https://openalex.org/I104914703","https://openalex.org/I49663120"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Martin J.-D. Otis","raw_affiliation_strings":["Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8763-0536","affiliations":[{"raw_affiliation_string":"Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada","institution_ids":["https://openalex.org/I104914703"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036505495","display_name":"Ramy Meziane","orcid":null},"institutions":[{"id":"https://openalex.org/I104914703","display_name":"Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi","ror":"https://ror.org/00y3hzd62","country_code":"CA","type":"education","lineage":["https://openalex.org/I104914703","https://openalex.org/I49663120"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ramy Meziane","raw_affiliation_strings":["Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic and Interactive Robotic Laboratory, Department of Applied Science, Universit\u00e9 du Qu\u00e9bec \u00e0 Chicoutimi, Chicoutimi, QC G7H 2B1, Canada","institution_ids":["https://openalex.org/I104914703"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5046965972"],"corresponding_institution_ids":["https://openalex.org/I104914703"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.9959,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77537357,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"14","issue":"11","first_page":"165","last_page":"165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.6212999820709229,"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":0.6212999820709229,"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":0.11240000277757645,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.0737999975681305,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7123000025749207},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6128000020980835},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5687999725341797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5604000091552734},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5561000108718872},{"id":"https://openalex.org/keywords/recursive-least-squares-filter","display_name":"Recursive least squares filter","score":0.5479999780654907},{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.4959999918937683},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.45080000162124634},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4449999928474426}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7123000025749207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6930999755859375},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6128000020980835},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5687999725341797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5604000091552734},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5561000108718872},{"id":"https://openalex.org/C145249878","wikidata":"https://www.wikidata.org/wiki/Q2835868","display_name":"Recursive least squares filter","level":3,"score":0.5479999780654907},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.4959999918937683},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47350001335144043},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.45080000162124634},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4449999928474426},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4253999888896942},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41179999709129333},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.3474999964237213},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.33230000734329224},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29919999837875366},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2655999958515167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25949999690055847}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14110165","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14110165","pdf_url":"https://www.mdpi.com/2218-6581/14/11/165/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ba966ceaa0fd44068d629f8278091b90","is_oa":true,"landing_page_url":"https://doaj.org/article/ba966ceaa0fd44068d629f8278091b90","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":"Robotics, Vol 14, Iss 11, p 165 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14110165","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14110165","pdf_url":"https://www.mdpi.com/2218-6581/14/11/165/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1111409655","display_name":null,"funder_award_id":"2020-CO-275043","funder_id":"https://openalex.org/F4320334841","funder_display_name":"Fonds de recherche du Qu\u00e9bec \u2013 Nature et technologies"},{"id":"https://openalex.org/G1813216044","display_name":"\u00c9tude des mod\u00e8les d'interactivit\u00e9s entre les syst\u00e8mes m\u00e9catroniques et les humains lors de hautes performances cognitives et motrices","funder_award_id":"rgpin-2018-06329","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G2980479518","display_name":null,"funder_award_id":"RGPIN-2018","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G3836490595","display_name":null,"funder_award_id":"2016-PR-188869","funder_id":"https://openalex.org/F4320334841","funder_display_name":"Fonds de recherche du Qu\u00e9bec \u2013 Nature et technologies"},{"id":"https://openalex.org/G4053892325","display_name":null,"funder_award_id":"RGPIN-2018-0632","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320334841","display_name":"Fonds de recherche du Qu\u00e9bec \u2013 Nature et technologies","ror":"https://ror.org/00b9f9778"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4416234097.pdf","grobid_xml":"https://content.openalex.org/works/W4416234097.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,89],"paper":[1],"proposes":[2],"a":[3,14,60,150],"two-layer":[4],"adaptive":[5,86],"proportional\u2013integral\u2013derivative":[6],"(PID)":[7],"controller":[8,116],"for":[9,147],"precise":[10],"pose":[11],"control":[12],"of":[13,32,37,66,98,113,139],"six-degree-of-freedom":[15],"cable-driven":[16],"parallel":[17],"robot":[18,68],"with":[19,84],"eight":[20],"cables,":[21,52],"specifically":[22],"designed":[23],"to":[24,46,94,124,127],"handle":[25],"dynamic":[26,96,154],"changes":[27],"caused":[28],"by":[29],"the":[30,38,42,67,77,95,99,107,114,121,133,140,166,170],"movement":[31],"attachment":[33,39,108],"points.":[34],"The":[35,63,111,158],"positions":[36],"points":[40,109],"on":[41,76],"base":[43],"are":[44,57],"adjusted":[45],"avoid":[47],"collisions":[48],"between":[49],"humans":[50,54],"and":[51,55,117,137,155],"where":[53],"robots":[56],"working":[58],"in":[59,153],"shared":[61],"workspace.":[62],"inherent":[64],"nonlinearity":[65],"system":[69],"was":[70],"addressed":[71],"using":[72],"model":[73,97],"identification":[74],"based":[75],"recursive":[78],"least":[79],"squares":[80],"(RLS)":[81],"algorithm":[82,119],"equipped":[83],"an":[85],"forgetting":[87],"factor.":[88],"method":[90,160],"enables":[91],"real-time":[92],"updates":[93],"robot,":[100],"thereby":[101],"ensuring":[102],"accurate":[103],"parameter":[104],"estimation":[105],"as":[106],"move.":[110],"combination":[112],"PID":[115],"RLS":[118],"enhances":[120],"system\u2019s":[122],"ability":[123],"respond":[125],"effectively":[126],"changing":[128],"dynamics.":[129],"Simulation":[130],"results":[131],"highlight":[132],"superior":[134],"accuracy,":[135],"robustness,":[136],"adaptability":[138],"proposed":[141,159],"approach,":[142],"making":[143],"it":[144],"well":[145],"suited":[146],"applications":[148],"requiring":[149],"reliable":[151],"performance":[152],"unpredictable":[156],"environments.":[157],"can":[161],"guarantee":[162],"human":[163],"safety,":[164],"while":[165],"end":[167],"effector":[168],"tracks":[169],"desired":[171],"trajectory.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-11-11T00:00:00"}