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Robust Output Practical Stability of Time-Varying Nonlinear Control Systems via Indefinite Lyapunov Functions

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Journal of Systems Science & Complexity 2024年第6期37卷 2595-2613页

作者： damak Hanen ABOTHHER Amal HAMMAMI Mohamed Ali Department of Mathematics University of SfacPreparatory Engineering Institute of SfaxSfax 3047Tunisia Department of Mathematics University of ZawiaFaculty of education Abu EssaZawia 16418Libya Department of Mathematics University of SfacFaculty of Sciences of SfaxSfax 3047Tunisia

This paper focuses on studying the problem of robust output practical stability of timevarying nonlinear control systems. The main innovation lies in the fact that the proposed approach for stability analysis allows for the computation of bounds that characterize the asymptotic convergence of solutions to a small ball centered at the origin using a Lyapunov method with a definite *** different conditions on the perturbation, the authors demonstrate that the system can be globally robustly asymptotically output stable by designing a candidate feedback controller. Finally, three examples are given to illustrate the practical implications and significance of the theoretical results.

关键词： Control theory global robust practical asymptotic output stability(GRPAOS) Lyapunov method time-varying control systems

Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators

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International Journal of Automation and computing 2011年第2期8卷 215-220页

作者： Mezghani Ben Romdhane Neila damak Tarak Industrial Processes Control Unit National Engineering School of SfaxUniversity of Sfax

In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is ***,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the *** resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic *** applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and ***,the proposed controller can eliminate the chattering effect without losing the robustness *** stability of the control algorithm can be easily verified by using Lyapunov *** proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.

关键词： Terminal sliding mode sliding mode control adaptive control of robot robust control Lyapunov method.

A Sliding Mode Observer for Uncertain Nonlinear Systems Based on Multiple Models Approach

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International Journal of Automation and computing 2017年第2期14卷 202-212页

作者： kd s Hfa edh karim Dahech Tarak.damak Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) National School of Engineers of Sfax University of Sfax B.P. 1173 3038 Sfax Tunisia

This paper presents a method of state estimation for uncertain nonlinear systems described by multiple models approach. The uncertainties, supposed as norm bounded type, are caused by some parameters＇ variations of the nonlinear system. Linear matri~ inequalities （LMIs） have been established in order to ensure the stability conditions of the multiple observer which lead to determine the estimation gains. A sliding mode gain has been added in order to compensate the uncertainties. Numerical simulations through a state space model of a real process have been realized to show the robustness of the synthesized observer.

关键词： Uncertain nonlinear system norm bounded uncertainty multiple models approach multiple observer sliding modeobserver.

Robust Adaptive Control for Mobile Manipulators

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International Journal of Automation and computing 2011年第1期8卷 8-13页

作者： Mohamed Boukattaya Tarak.damak Mohamed Jallouli Control of Industrial Process Unit National School of Engineers University of Sfax Intelligent Control Design and Optimization of Complex Systems Unit National School of Engineers University of Sfax

This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desired end-effector and platform trajectories in task space coordinates simultaneously. Then, an adaptive control scheme is proposed, which ensures that the trajectories are accurately tracked even in the presence of external disturbances and uncertainties. The system stability and the convergence of tracking errors to zero are rigorously proven using Lyapunov theory. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with a sliding mode controller.

关键词： Mobile manipulator trajectory tracking robust adaptive control sliding mode control uncertainties and disturbances.

Stochastic Nicholson's blowflies model with delays

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International Journal of Biomathematics 2023年第1期16卷 97-128页

作者： Nadia Belmabrouk Mondher damak Mohsen Miraoui Faculty of Sciences Sfac UniversityBP 1171 SfacTunisia Paris-East Creteil UniversityFrance Faculty of Sciences Sfac UniversityBP 1171 SfacTunisia Preparatory Institute for Engineering Studies of kairouan University of kairouan Tunisia

In this research work,we introduce a new concept of double measure ergodic processes to identify the space of double measure pseudo almost periodic(or pap)processes in the pth mean *** display some findings regarding the completeness as well as the composition theorems and the invariance of the space consisting in double measure pap *** by the above-mentioned results,the Banach fixed point theorem and the stochastic analysis techniques,we prove the existence,uniqueness and the global exponential stability of doubly measure pseudo almost periodic mild solution for a class of stochastic Nicholson's blowflies model with mixed delays in a separable real Hilbert *** concluding part of the work is crowned with an example to confirm the reliability and feasibility of our findings.

关键词： Pseudo almost periodic solution measure theory fixed point theorem stochastic Nicholson's blowflies model

The Use of Smart Textiles in the Healthcare Space: Towards an Improvement of the User-Patient Experience

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Journal of Textile Science and Technology 2024年第2期10卷 41-50页

作者： Balkis Ellouze Marwa damak Department of Design Higher Institute of Arts and Crafts of Sfax University of Sfax Sfax Tunisia CES Lab National Engineering School of Sfax Sfax Tunisia

This article explores the role of smart textiles in transforming healthcare environments into spaces that prioritize patient well-being. We will examine the advantages of smart textiles in healthcare settings, such as the real-time monitoring of vital signs through connected clothing. Additionally, we will introduce metadesign as a design approach that considers the interactions between users, healthcare environments, and technologies to create fulfilling experiences. By combining the advanced features of smart textiles with a patient-centered metadesign approach, it becomes possible to create care spaces that cater to patient needs. The objective of this article is to present the integration of metadesign in the design of smart textiles as a process aimed at enhancing the quality of the patient user experience. In this process, we will emphasize the collaborative approach and embrace technological innovation to harness the potential for ongoing improvement and provide users with high-quality experiences. Lastly, we will underscore the significance of adopting a multidimensional approach to evaluate the impact of smart textiles on the patient user experience.

关键词： Smart Textiles Healthcare Space User-Patient Experience Metadesign

Some Applications of the Non Propagation Theorem

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Advances in Pure Mathematics 2012年第1期2卷 27-32页

作者： Nassim Athmouni Mondher damak Departement de Mathematiques Facultedes Sciences de SfaxUniversite de SfaxSfaxTunisia

We use C*-algebras to determine non-propagation estimates for a certain class of generalized Schr?dinger operators acting on L2(x) , where X is a locally compact group. In particular, the Schr?dinger operators on tree... 详细信息

关键词： C^(*)-Algebra Schrodinger Operator Propagation Properties Tree

Antifungal,molluscicidal and larvicidal assessment of anemonin and Clematis flammula *** against mollusc Galba truncatula,intermediate host of Fasciola hepatica in Tunisia

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Asian Pacific Journal of Tropical Medicine 2017年第10期10卷 967-973页

作者： Rakia Saidi Lamia khanous Safa khadim Allah Besma Hamdi Ali Ayadi Mohamed damak Hayet Hammami Raoudha Mezghani-Jarraya Laboratory of Organic Chemistry LR17ES08(Natural Substances Team) University of SfaxFaculty of Sciences3000 SfaxTunisia Laboratory of Plant Biotechnology Applied to Crop Improvement University of Sfax Faculty of SciencesBP 11713000 SfaxTunisia Fungal and Parasitic Molecular Biology Laboratory University of SfaxFaculty of Medicine3029 SfaxTunisia Laboratory of Materials and Environment Sciences Faculty of Science of SfaxBP 11713000 SfaxTunisia

Objective: To investigate the potential of anemonin and Clematis flammula(***) extracts against infective ***: The molluscicidal activities of anemonin and *** extracts against Galba truncatula Mull.(Lymnaeidae) and Fasciola hepatica larval stages contaminating this snail in Tunisia were assessed by testing six groups of snails in 250 mL of extracts and aqueous dechlorinated solutions with different concentrations(ranging from 2.5 to 20.0 mg/L) for 48 ***, the antifungal potential of *** leaves and flowers was evaluated by using the diffusion agar and broth dilution methods against four fungal strains: Aspergillus niger, Pythium catenulatum, Rhizoctonia solani and Fusarium ***: As a result, hexane and ethyl acetate flower extracts exhibited significant molluscicidal activities with LC_(50) median lethal concentrations values of 11.87 and 11.65 mg/L, respectively while LC_(50) value of anemonin was 9.64 mg/L after 48 h *** flower extracts showed a larvicidal effect with a deterioration rate exceeding 35.39% where flower ethyl acetate residue gave a deterioration rate of cercariae close to 97%.Moreover, *** extracts were not noxious to the associated fauna *** extracts inhibited the growth of ***, the leaves and flowers methanolic extracts had the more important fungicide action with minimum inhibitory concentrations of 1.56 and 3.12 mg/mL together with minimum fungistatic concentrations of 3.12 and 6.25 mg/mL *** flower extracts were active against Rhizoctonia solani with minimum inhibitory concentrations varying between 0.70 and 1.56 mg/mL and 6.25 mg/mL of minimum fungistatic *** tests showed that the antifungal activity may be attributed to the presence of the flavonoids/saponins in the methanolic extracts and the molluscicide effects could be due to the richness of hexane and ethyl acetate extracts on sterols and ***

关键词： Larvicidal Antifungal Galba truncatula Fasciola hepatica Clematis flammula Anemonin

Higher Order Sliding Mode Control of Uncertain Robot Manipulators

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Journal of Electrical Engineering 2014年第3期2卷 116-123页

作者： Neila Mezghani Ben Romdhane Tarak.damak Lab-STA (Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering) National Engineering School ofSfax Sfax 3038 Tunisia

This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition to assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuity in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The stability and the robustness of the proposed controller can be easily verified by using the classical Lyapunov criterion. The proposed controller is tested to a three-degree-of-freedom robot to prove its effectiveness.

关键词： High order sliding mode control of robot Lyapunov method