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Fuzzy Luenberger Observer Design for Nonlinear Flexible Joint Robot Manipulator
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The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensors must be taken into account during the control process. This paper proposes a nonlinear observer that controls FJRM, without requiring equipment sensors for measuring the states. The nonlinear state equations are derived in detail for the FJRM where nonlinearity, of order three, is considered. The Takagi–Sugeno Fuzzy Model (T-SFM) technique is applied to linearize the FJRM system. The Luenberger observer is designed to estimate the unmeasured states using error correction. The developed Luenberger observer showed its ability to control the FJRM by utilizing only the measured signal of the velocity of the motor. Stability analysis is implemented to improve the ability of the designed observer to stabilize the FJRM system. The developed observer is tested by simulation to evaluate the ability of the observer to estimate the unknown states. The results showed that the proposed control algorithm estimated the motor angle, gear angle, link angle, angular velocity of gear, and angular velocity of link with zero steady errors.

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Publication Date
Tue Dec 07 2021
Journal Name
Tencon 2021 - 2021 Ieee Region 10 Conference (tencon)
Robust State Feedback Control of Electric Heating Furnace Using a New Disturbance Observer
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As one type of heating furnaces, the electric heating furnace (EHF) typically suffers from time delay, non-linearity, time-varying parameters, system uncertainties, and harsh en-vironment of the furnace, which significantly deteriorate the temperature control process of the EHF system. In order to achieve accurate and robust temperature tracking performance, an integration of robust state feedback control (RSFC) and a novel sliding mode-based disturbance observer (SMDO) is proposed in this paper, where modeling errors and external disturbances are lumped as a lumped disturbance. To describe the characteristics of the EHF, by using convection laws, an integrated dynamic model is established and identified as an uncertain nonlinear second ord

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Publication Date
Thu Apr 30 2026
Journal Name
International Journal Of Engineering Pedagogy (ijep)
The Impact of Intelligent Adaptive Learning on Flexible Thinking and Academic Achievement for Undergraduate Students
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In the knowledge society, artificial intelligence (AI) forms a cornerstone of global education. This quasi-experimental study examines the impact of an Intelligent Adaptive Learning Strategy (IALS) on flexible thinking (FT) and academic achievement among 60 3rd-year undergraduate students at the College of Education/University of Baghdad (experimental n = 30; control n = 30). The IALS was implemented via an AI-supported educational platform, while the control group received conventional instruction. Post-test intervention assessments included an FT test (10 items, content validity = 0.89, Cronbach’s α = 0.87) and an achievement test (10 objective items, α = 0.85). Results revealed statistically significant superiority of the exp

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Publication Date
Sat Jun 01 2019
Journal Name
2019 Ieee International Conference On Automatic Control And Intelligent Systems (i2cacis)
Study on Solar Panel Cleaning Robot
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Publication Date
Sun Mar 17 2019
Journal Name
Baghdad Science Journal
On Generalized Continuous Fuzzy Proper Function from a Fuzzy Topological Space to another Fuzzy Topological Space
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The purpose of this paper is to introduce and study the concepts of fuzzy generalized open sets, fuzzy generalized closed sets, generalized continuous fuzzy proper functions and prove results about these concepts.

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Publication Date
Sun Jan 01 2023
Journal Name
Aip Conference Proceedings
Efficient computational methods for solving the nonlinear initial and boundary value problems
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Publication Date
Mon Jun 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Common Fixed Point problem for Classes of Nonlinear Maps in Hilbert Space
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Abstract<p>in this article, we present a definition of k-generalized map independent of non-expansive map and give infinite families of non-expansive and k-generalized maps new iterative algorithms. Such algorithms are also studied in the Hilbert spaces as the potential to exist for asymptotic common fixed point.</p>
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Publication Date
Sat May 01 2021
Journal Name
Journal Of Physics: Conference Series
Three Weighted Residuals Methods for Solving the Nonlinear Thin Film Flow Problem
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Abstract<p>In this paper, the methods of weighted residuals: Collocation Method (CM), Least Squares Method (LSM) and Galerkin Method (GM) are used to solve the thin film flow (TFF) equation. The weighted residual methods were implemented to get an approximate solution to the TFF equation. The accuracy of the obtained results is checked by calculating the maximum error remainder functions (MER). Moreover, the outcomes were examined in comparison with the 4<sup>th</sup>-order Runge-Kutta method (RK4) and good agreements have been achieved. All the evaluations have been successfully implemented by using the computer system Mathematica®10.</p>
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Publication Date
Thu Jun 01 2017
Journal Name
Chaos, Solitons &amp; Fractals
A semi-analytical iterative method for solving nonlinear thin film flow problems
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Publication Date
Tue Aug 01 2023
Journal Name
Baghdad Science Journal
The Classical Continuous Optimal Control for Quaternary Nonlinear Parabolic Boundary Value Problems
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In this paper, our purpose is to study the classical continuous optimal control (CCOC)  for quaternary nonlinear parabolic boundary value problems (QNLPBVPs). The existence and uniqueness theorem (EUTh) for the quaternary state vector solution (QSVS) of the weak form (WF) for the QNLPBVPs with a given quaternary classical continuous control vector (QCCCV) is stated and proved via the Galerkin Method (GM) and the first compactness theorem under suitable assumptions(ASSUMS). Furthermore, the continuity operator for the existence theorem of a QCCCV dominated by the QNLPBVPs is stated and proved under suitable conditions.

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Publication Date
Thu Oct 14 2021
Journal Name
Iraqi Journal Of Physics
Investigation of nonlinear optical properties for laser dyes-doped polymer thin film
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Solutions of dyes Rhodamine 6G (Rh6G) and Coumarin480(C480) were prepared at five concentrations (1x10-3, 5x10-4, 1x10-4, 5x10-5 and1x10-5) mol/l, the mixing was stirred to obtain on a homogenous solution, the(poly methyl-methacrylate) (PMMA) was solved by chloroform solvent with certain ratio, afterward (PMMA+Rh6G) and (PMMA+C480) thin films were prepared by casting method on glass block which has substrate with dimensions (7.5 x2.5)cm2, the prepared samples were left in dark place at room temperature for 24 hours to obtain uniform and homogenous thin films. UV-VIS absorption spectra, transmission spectra and fluorescence spectra were done to measure linear refractive index and linear absorption coefficient. The nonlinear optical proper

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