{"id":"https://openalex.org/W4413082432","doi":"https://doi.org/10.7148/2025-0093","title":"Trajectory Optimisation of a Robotic Manipulator Using a Novel Evolutionary Intelligence Algorithm","display_name":"Trajectory Optimisation of a Robotic Manipulator Using a Novel Evolutionary Intelligence Algorithm","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4413082432","doi":"https://doi.org/10.7148/2025-0093"},"language":"en","primary_location":{"id":"doi:10.7148/2025-0093","is_oa":true,"landing_page_url":"https://doi.org/10.7148/2025-0093","pdf_url":"http://www.scs-europe.net/dlib/2025/ecms2025acceptedpapers/0093_hric_ecms2025_0006.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ECMS 2025 Proceedings edited by Marco Scarpa, Salvatore Cavalieri, Salvatore Serrano, Fabrizio De Vita","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://www.scs-europe.net/dlib/2025/ecms2025acceptedpapers/0093_hric_ecms2025_0006.pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011984019","display_name":"Muhammad Hamza Zafar","orcid":"https://orcid.org/0000-0002-5025-2009"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Muhammad Hamza Zafar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081081302","display_name":"Mohammad Poursina","orcid":"https://orcid.org/0000-0002-1886-2181"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mohammad Poursina","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011760960","display_name":"Syed Kumayl Raza Moosavi","orcid":"https://orcid.org/0000-0001-7064-255X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Syed Kumayl Raza Moosavi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5087578160","display_name":"Filippo Sanfilippo","orcid":"https://orcid.org/0000-0002-1437-8368"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Filippo Sanfilippo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09182594,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"93","last_page":"99"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9976000189781189,"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"}},"topics":[{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9976000189781189,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9973999857902527,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9950000047683716,"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/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7928228378295898},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6745418310165405},{"id":"https://openalex.org/keywords/approximation-error","display_name":"Approximation error","score":0.6026849746704102},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5989707112312317},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5940426588058472},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48450586199760437},{"id":"https://openalex.org/keywords/trigonometric-functions","display_name":"Trigonometric functions","score":0.46000510454177856},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37003928422927856},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2709029018878937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2571122646331787},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2206628918647766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1531638205051422},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1272008717060089},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.07691517472267151}],"concepts":[{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7928228378295898},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6745418310165405},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.6026849746704102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5989707112312317},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5940426588058472},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48450586199760437},{"id":"https://openalex.org/C178009071","wikidata":"https://www.wikidata.org/wiki/Q93344","display_name":"Trigonometric functions","level":2,"score":0.46000510454177856},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37003928422927856},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2709029018878937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2571122646331787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2206628918647766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1531638205051422},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1272008717060089},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.07691517472267151},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.7148/2025-0093","is_oa":true,"landing_page_url":"https://doi.org/10.7148/2025-0093","pdf_url":"http://www.scs-europe.net/dlib/2025/ecms2025acceptedpapers/0093_hric_ecms2025_0006.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ECMS 2025 Proceedings edited by Marco Scarpa, Salvatore Cavalieri, Salvatore Serrano, Fabrizio De Vita","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.7148/2025-0093","is_oa":true,"landing_page_url":"https://doi.org/10.7148/2025-0093","pdf_url":"http://www.scs-europe.net/dlib/2025/ecms2025acceptedpapers/0093_hric_ecms2025_0006.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ECMS 2025 Proceedings edited by Marco Scarpa, Salvatore Cavalieri, Salvatore Serrano, Fabrizio De Vita","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413082432.pdf","grobid_xml":"https://content.openalex.org/works/W4413082432.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2165013373","https://openalex.org/W2121097709","https://openalex.org/W2147480136","https://openalex.org/W2153629532","https://openalex.org/W2393592727","https://openalex.org/W2368034024"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,33],"present":[4],"a":[5,13,35,173],"novel":[6,166],"approach":[7],"for":[8,117,129,136,154,178],"Proportional\u2013Integral\u2013Derivative":[9],"(PID)":[10],"tuning":[11,161],"of":[12,53,81,87,112,141,168],"robotic":[14,163],"manipulator,":[15],"modeled":[16],"using":[17,72],"the":[18,30,45,51,109],"Lagrange":[19],"method":[20],"and":[21,26,67,85,100,115,120,127,131,134,149,170,175,191],"validated":[22],"through":[23,188],"comprehensive":[24],"modeling":[25,190],"simulation.":[27,192],"To":[28],"optimize":[29],"PID":[31,160],"gains,":[32],"developed":[34],"hybrid":[36,59],"algorithm":[37],"that":[38,95],"combines":[39],"Greylag":[40],"Goose":[41],"Optimization":[42,70],"(GGO)":[43],"with":[44],"Sine":[46],"Cosine":[47],"Algorithm":[48],"(SCA),":[49],"leveraging":[50],"strengths":[52],"both":[54,98],"optimization":[55],"techniques.":[56],"The":[57,92,138],"proposed":[58],"algorithm,":[60],"termed":[61],"GGOSCA,":[62],"was":[63],"tested":[64],"against":[65],"GGO":[66,99,169],"Particle":[68],"Swarm":[69],"(PSO)":[71],"three":[73],"objective":[74,104],"functions:":[75],"Lyapunov":[76],"Based":[77],"Function":[78],"(LBF),":[79],"Integral":[80,86],"Absolute":[82,89],"Error":[83,90],"(IAE),":[84],"Time-weighted":[88],"(ITAE).":[91],"results":[93],"demonstrated":[94],"GGOSCA":[96,107,142],"outperforms":[97],"PSO":[101],"across":[102],"all":[103],"functions.":[105],"Specifically,":[106],"achieved":[108],"lowest":[110],"costs":[111],"0.1018,":[113],"0.2484,":[114],"0.6601":[116],"LBF,":[118],"IAE,":[119],"ITAE,":[121],"respectively,":[122],"compared":[123],"to":[124],"0.1022,":[125],"0.2580,":[126],"0.6939":[128],"GGO,":[130],"0.1023,":[132],"0.2660,":[133],"0.7273":[135],"PSO.":[137],"superior":[139],"performance":[140],"highlights":[143],"its":[144,186],"effectiveness":[145],"in":[146,162,182],"balancing":[147],"exploration":[148],"exploitation,":[150],"making":[151],"it":[152],"well-suited":[153],"complex":[155],"control":[156,180],"tasks":[157],"such":[158],"as":[159],"systems.":[164],"This":[165],"combination":[167],"SCA":[171],"provides":[172],"robust":[174],"efficient":[176],"solution":[177],"optimizing":[179],"parameters":[181],"dynamic":[183],"environments,":[184],"demonstrating":[185],"potential":[187],"rigorous":[189]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}