{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:36:40Z","timestamp":1777703800335,"version":"3.51.4"},"reference-count":15,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2016,3,1]],"date-time":"2016-03-01T00:00:00Z","timestamp":1456790400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"published-print":{"date-parts":[[2016,3]]},"abstract":"<jats:p>This paper presents a method for hybridizing artificial hormones controller with type-2 fuzzy controller. Artificial hormones robot control system provides the ability to self-control, while the fuzzy controller is appropriate for nonlinear systems with time delay and dynamic systems. This paper presents three feasible scenarios of hybridizing two controllers. Controller performance indicators, such as settling time, overshoot, steady state error, and integrals known as feedback error performance indices (integral absolute error [IAE], integral squared error [ISE], integral time-weighted absolute error [ITAE], integral of time multiplied by the squared error [ITSE]), were studied and compared. The results of the hybrid controller for each of the scenarios show that it has better performance than any of the fuzzy and artificial hormone controllers alone. Energy consumption in the base and hybrid controllers was compared. The results show that the energy consumption for the hybrid controller is 20 to 30% less than the base controller.<\/jats:p>","DOI":"10.3233\/ifs-152053","type":"journal-article","created":{"date-parts":[[2016,3,1]],"date-time":"2016-03-01T10:52:16Z","timestamp":1456829536000},"page":"1403-1410","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Optimization of hybrid robot control system using artificial hormones and fuzzy logic"],"prefix":"10.1177","volume":"30","author":[{"given":"Mohammad Bagher","family":"Fakhrzad","sequence":"first","affiliation":[{"name":"Department of Industrial Engineering, University of Yazd, University Blvd. \u2013 Safayieh, yazd, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Moheb Ali","family":"Rahdar","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Yazd, University Blvd. \u2013 Safayieh, yazd, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2016,3]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1145\/1774674.1774685"},{"key":"e_1_3_1_3_2","volume-title":"In Proc of the 6th Vienna International Conference on Mathematical Modelling (MATHMOD-09)","author":"Schmickl T.","year":"2009","unstructured":"SchmicklT. and CrailsheimK., Modelling a hormone-based robot controller, In Proc of the 6th Vienna International Conference on Mathematical Modelling (MATHMOD-09), Vienna, Austria, 2009."},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354056"},{"key":"e_1_3_1_5_2","first-page":"244","article-title":"A hormone-based controller for evolutionary multi-modular robotics: From single modules to gait learning","author":"Hamann H.","year":"2010","unstructured":"HamannH., StradnerJ., SchmicklT. and CrailsheimK., A hormone-based controller for evolutionary multi-modular robotics: From single modules to gait learning, in Proceedings of the IEEE Congress on Evolutionary Computation (CEC\u201910), 2010, pp. 244\u2013251.","journal-title":"in Proceedings of the IEEE Congress on Evolutionary Computation (CEC\u201910)"},{"key":"e_1_3_1_6_2","first-page":"773","article-title":"Artificial hormone reaction networks: Towards higher evolvability in evolutionary multimodular robotics","author":"Hamann H.","year":"2010","unstructured":"HamannH., StradnerJ., SchmicklT. and CrailsheimK., Artificial hormone reaction networks: Towards higher evolvability in evolutionary multimodular robotics, in Proc of the ALife XII Conference, 2010, pp. 773\u2013780.","journal-title":"in Proc of the ALife XII Conference"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0019-9958(65)90241-X"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11814-009-0347-8"},{"issue":"1","key":"e_1_3_1_9_2","first-page":"899","article-title":"A fuzzy controller design for nuclear research reactors using the particle swarm optimization algorithm","volume":"24","author":"Coban R.","year":"2012","unstructured":"CobanR., A fuzzy controller design for nuclear research reactors using the particle swarm optimization algorithm, Nuclear Engineering and Design 24(1) (2012), 899\u20131908.","journal-title":"Nuclear Engineering and Design"},{"key":"e_1_3_1_10_2","volume-title":"Rule-Based Fuzzy Logic Systems: Introduction and New Directions","author":"Mendel J.M.","year":"2001","unstructured":"MendelJ.M., Rule-Based Fuzzy Logic Systems: Introduction and New Directions, Prentice-Hall, NJ, 2001."},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1016\/0020-0255(75)90036-5"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.30684\/etj.30.8.2"},{"issue":"23","key":"e_1_3_1_13_2","first-page":"5049","article-title":"Ismail ATACAK, Design of a hybrid type-2 fuzzy logic\/proportional integral controller for single-phase three-wire inverter system","volume":"6","year":"2011","unstructured":"Ismail ATACAK, Design of a hybrid type-2 fuzzy logic\/proportional integral controller for single-phase three-wire inverter system, Scientific Research and Essays 6(23) (2011), 5049\u20135064.","journal-title":"Scientific Research and Essays"},{"key":"e_1_3_1_14_2","first-page":"807","article-title":"Hybrid fuzzy logic PID controller","author":"Brehm T.","year":"1993","unstructured":"BrehmT. and RattanK.S., Hybrid fuzzy logic PID controller, In Proceedings of the National Aerospace and Electronics Conference -NAECON, 1993, pp. 807\u2013813.","journal-title":"In Proceedings of the National Aerospace and Electronics Conference -NAECON"},{"key":"e_1_3_1_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/91.728430"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.3844\/erjsp.2010.62.67"}],"container-title":["Journal of Intelligent &amp; 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