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Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators

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.

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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

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Sanitizing Method Effects on Depending-Culture Microorganisms in <i>Tuber aestivium</i>

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Advances in Microbiology 2015年第6期5卷 425-432页

作者： Ilef ben romdhane neila Saidi Shweta Deshaware Salem Shamekh Laboratory of Treatment and Water Recycling Centre of Research and Water Technologies (CERTE) Technopark of Borj-Cedria Soliman Tunisia Food Engineering and Technology Department Institute of Chemical Technology Mumbai India Department of Biotechnology and Chemical Technology School of Chemical Technology Aalto University Aalto Finland Juva Truffle Center Juva Finland

Tuber aestivum/uncinatum has been widely used as food, food additives, and traditional medicine. Truffles are extremely perishable with a short postharvest life quality requiring a special handling for marketing in order to delay its deterioration. This study aimed to assess the effects of different sanitizing methods on superficial Tuber aestivium quality ascocarp. The results showed that the best treatment was obtained by immersing the Truffle ascocarps in boiling water for 1 or 2 min where counts of total mesophilic microoraganisms (TMM) were respectively 81 and 7 CFU per g of dry Truffle ascocarps biomass, respectively. However, the highest TMM was obtained after rinsing Truffle ascocarps in 2% NaOH where recovery was 108 CFU per g of dry Truffle ascocarps biomass. Treatments applied to disinfect Truffle ascocarps were classified by increasing degree of efficiency as follows to reduce the microbial load expressed in CFU/g: Dipping in boiling water (2 min) 7 ± 3.41;dipping in boiling water (1 min) 81 ± 25.8, rinsing with alcohol 2.102 ± 13;rinsing with tap water 6.103 ± 36;rinsing with H2O2 6.104 ± 2;brushing 2.105 ± 28 and rinsing with NaOH 108 ± 15.

关键词： Tuber aestivium Ascocarps Total Count Mesophilic Bacteria Molds and Yeast Decontamination

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