Position control of servo motor systems is a challenging task because of inevitable factors such as uncertainties, nonlinearities, parametric variations, and external perturbations. In this article, to alleviate the above issues, a practical adaptive fast terminal sliding mode control (PAFTSMC) is proposed for better tracking performance of the servo motor system by using a state observer and bidirectional adaptive law. First, a smooth-tangent-hyperbolic-function-based practical fast terminal sliding mode control (PFTSM) surface is designed to ensure not only fast finite time tracking error convergence but also chattering reduction. Second, the PAFTSMC is proposed for the servo motor, in which a two-way adaptive law is designed to further suppress the chattering and overestimation problems. More importantly, the proposed adaptive technique can update the switching gain according to the system uncertainties, which can provide high gain in the reaching phase and then decrease to the smallest value in the sliding phase to avoid the monotonically increasing gain that exists in most adaptation methods. Third, the finite-time stability of the closed-loop system is proved based on the Lyapunov theorem. Finally, the simulation studies and experimental tests verify the effectiveness of the proposed control in terms of better tracking, strong robustness, and reduced chattering, compared to existing algorithms.
The researcher highlighted in his research on an important subject that people need, which is the excuse of ignorance in Islamic law. , As the flag of light and ignorance of darkness. Then the researcher lameness of the reasons for research in this subject as it is one of the assets that should be practiced by the ruler and the judge and the mufti and the diligent and jurisprudent, but the public should identify the issues that ignore ignorance and issues that are not excused even if claimed ignorance.
Then the researcher concluded the most important results, and recommendations that he wanted to set scientific rules for students of science and Muslims in general, to follow the issues of legitimacy and learn its provisions and i
Today, problems of spatial data integration have been further complicated by the rapid development in communication technologies and the increasing amount of available data sources on the World Wide Web. Thus, web-based geospatial data sources can be managed by different communities and the data themselves can vary in respect to quality, coverage, and purpose. Integrating such multiple geospatial datasets remains a challenge for geospatial data consumers. This paper concentrates on the integration of geometric and classification schemes for official data, such as Ordnance Survey (OS) national mapping data, with volunteered geographic information (VGI) data, such as the data derived from the OpenStreetMap (OSM) project. Useful descriptions o
... Show MoreAt the last two decades , The environment has witnessed tremendous changes in many fields with the huge competition , various technological development and customer satisfaction , that are reflected in economic units a doption for lean production system .
Lean Accounting that has appeared as aresponse for changes occurred of economic units adoption for lean accounting system instead of wide production system : through it management of economic units has been changed from management by top departments into management by value flows : has provide new method for accounting costs according to value flow
... Show MoreSolar hydrogen line emission has been observed at the frequency of 1.42 GHz (21 cm wavelength) with 3m radio telescope installed inside the University of Baghdad campus. Several measurements related to the sun have been conducted and computed from the radio telescope spectrometer. These measurements cover the solar brightness temperature, antenna temperature, solar radio flux, and the antenna gain of the radio telescope. The results demonstrate that the maximum antenna temperature, solar brightness temperature, and solar flux density are found to be 970 K, 49600K, and 70 SFU respectively. These results show perfect correlation with recent published studies.
This paper proposes a collaborative system called Recycle Rewarding System (RRS), and focuses on the aspect of using information communication technology (ICT) as a tool to promote greening. The idea behind RRS is to encourage recycling collectors by paying them for earning points. In doing so, both the industries and individuals reap the economical benefits of such system. Finally, and more importantly, the system intends to achieve a green environment for the Earth. This paper discusses the design and implementation of the RRS, involves: the architectural design, selection of components, and implementation issues. Five modules are used to construct the system, namely: database, data entry, points collecting and recording, points reward
... Show MoreWe manufactured the nanoparticles light emitting diode (NPs-LED) for organic and inorganic semiconductors to achieve electroluminescence (EL). The nanoparticles of Europium oxide(Eu2O3) were incorporated into the thin film layers of the organic compounds, poly(3,4,- ethylene dioxythiophene)/polystyrene sulfonic acid (PEDOT:PSS), N,N’–diphenyl-N,N’ –bis(3-methylphenyl)-1,1’-biphenyl 4,4’- diamine (poly TPD) and polymethyl methacrylate (PMMA), by the spin coating and with the help of the phase segregation method. The EL of NPs-LED, was study for the different bias voltages (20, 25, 30) V at the room temperature, from depending on the CIE 1931 color spaces and it was generated the white light at 20V, t
... Show MoreThe electrocoagulation process became one of the most important technologies used for water treatment processes in the last few years. It’s the preferred method to remove suspended solids and heavy metals from water for treating drinking water and wastewater from textile, diary, and electroplating factories. This research aims to study the effect of using the electrocoagulation process with aluminum electrodes on the removal efficiency of suspended solids and turbidity presented in raw water and optimizing by the response surface methodology (RSM). The most important variables studied in this research included electrode spacing, the applied voltage, and the operating time of the electrocoagulation process. The samples
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