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Design of Robust Terminal Sliding Mode Control for Underactuated Flexible Joint Robot
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Flexible joint robot (FJR) manipulators can offer many attractive features over rigid manipulators, including light weight, safe operation, and high power efficiency. However, the tracking control of the FJR is challenging due to its inherent problems, such as underactuation, coupling, nonlinearities, uncertainties, and unknown external disturbances. In this article, a terminal sliding mode control (TSMC) is proposed for the FJR system to guarantee the finite-time convergence of the systems output, and to achieve the total robustness against the lumped disturbance and estimation error. By using two coordinate transformations, the FJR dynamics is turned into a canonical form. A cascaded finite-time sliding mode observer (CFTSMO) is constructed to estimate states and lumped disturbance in a finite time based on two measurable states, which not only attenuates the measurement noise but also reduces the peaking phenomenon. The closed-loop stability and the finite-time convergence are rigorously proved by using Lyapunov theorem. The upper bound of the finite convergence time is derived for the reaching and sliding phase. Comparative study is conducted experimentally in real time on the FJR manipulator to verify the effectiveness of the proposed control method.

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Publication Date
Sun Jun 01 2014
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Internal control and its role in the reform of the tax work: Applied research in the General Commission for Taxes
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That internal control is particularly important in improvingperformance and tax reform، they play an important role in the regularity ofwork and development and the anti corruption and activating the decisionsand tax legislation، as contained in the organizational plan and the means،procedures and components designed from which to ensure a policy andimplementation plans The research aims to review the reality of the internalcontrol in the General Commission for Taxes and stand on the deficiencies init, with the strengthening of the role of internal control in the GeneralAuthority for taxes based on the laws and regulations and by using modernmeans to work as well as developing the performance of employees in thebody، including helpin

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Publication Date
Fri Oct 01 2021
Journal Name
International Journal Of Mechanical Engineering And Robotics Research
Proportional-Derivative PD Vibration Control with Adaptive Approximation Compensator for a Nonlinear Smart Thin Beam Interacting with Fluid
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This work is concerned with the vibration attenuation of a smart beam interacting with fluid using proportional-derivative PD control and adaptive approximation compensator AAC. The role of the AAC is to improve the PD performance by compensating for unmodelled dynamics using the concept of function approximation technique FAT. The key idea is to represent the unknown parameters using the weighting coefficient and basis function matrices/vectors. The weighting coefficient vector is updated using Lyapunov theory. This controller is applied to a flexible beam provided with surface bonded piezo-patches while the vibrating beam system is submerged in a fluid. Two main effects are considered: 1) axial stretching of the vibrating beam that leads

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Publication Date
Wed Feb 01 2023
Journal Name
Mathematical Models And Computer Simulations
Function Approximation Technique (FAT)-Based Adaptive Feedback Linearization Control for Nonlinear Aeroelastic Wing Models Considering Different Actuation Scenarios
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Publication Date
Sun Nov 01 2020
Journal Name
Solid State Technology
Access Control Security Review: Concepts and Models
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HS Saeed, SS Abdul-Jabbar, SG Mohammed, EA Abed, HS Ibrahem, Solid State Technology, 2020

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Publication Date
Tue Jan 01 2013
Journal Name
International Journal Of Innovation, Management And Technology
Intelligent Magneto-Rheological Fluid Directional Control Valve
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There are many configurations of directional control valve. Directional control valve has complex construction, such as moving spool to control the direction of actuator and desired speed. Magneto-rheological (MR) fluid is one of controllable fluids. Utilizing the MR fluid properties, direct interface can be realized between magnetic field and fluid power without the need for moving parts like spool in directional control valves. This paper presents the design of multi configuration MR directional control valve. The construction and the principle of work of the valve are presented. The experiment was conducted to show the working principle of the valve functionally. The valve worked proportionally to control the direction and speed of hydra

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Publication Date
Mon Jan 01 2018
Journal Name
Plant Archives
Schistosomiasis vector control using cucumis melo plantextractswithbioassayexperiment
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he aim of this study is to get a plant extracts to use it as molluscicides to control the snail vector of Schistosomiasis andfinely control the disease. Laboratory study was performed to compare the molluscicidal activity of leaves and stems extractsof Cucumis melo against Bulinus truncatus snail. The snail B. truncatus was exposed to a serial concentrations of leaves andstems extracts (4000ppm, 5000ppm) in this work. Different effects of the extracts to the snail B. truncatus were recorded.These effects includes death, escaping and imbalance of snail behavior. 96hr-LD50 values of leaves extracts were calculatedfor the doses 4000 and 5000ppm as (76 and 37%) respectively while for stems were (105 and 47%) respectively. We found thatthe snail

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Scopus
Publication Date
Sun Nov 01 2020
Journal Name
Solid State Technology
Access Control Security Review: Concepts and Models
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Publication Date
Sun Jan 01 2023
Journal Name
Physical Mesomechanics Of Condensed Matter: Physical Principles Of Multiscale Structure Formation And The Mechanisms Of Nonlinear Behavior: Meso2022
Optimal control strategy applied to diabetes model
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Publication Date
Sun Nov 16 2025
Journal Name
Journal Of Physical Education
Proposed Exercises Using Flexible Resisters And Their Effect On Developing Strength Endurance And The Performance of Some Offensive Skills In Youth Basketball
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Publication Date
Sun May 01 2022
Journal Name
Journal Of Engineering
Comparative Study between the Behavior of the Concrete Thrust Block and the Restraint Joint in a Water Distribution System; Review
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Thrust blocks and restraint joints are the two most popular methods of counteracting the thrust force that generated at pipe fittings (bends, Tee, wye, reducers, dead ends, etc…). Both systems perform the same function, which is to prevent the joints from separating from the pipes. The aim of the study is to review previous studies and scientific theories related to the study and design of thrust blocks and restraint joints to study the behavior of both systems under thrust force and to study the factors and variables that affect the behavior of these systems. The behavior of both systems must be studied because they cannot be abandoned, as each system has conditions whose use is more feasible, scientific, and economic

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