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Robust Continuous Sliding Mode Controller for Uncertain Canonical Brunovsky Systems Using Reduced Order Extended State Observer
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A reduced-order extended state observer (RESO) based a continuous sliding mode control (SMC) is proposed in this paper for the tracking problem of high order Brunovsky systems with the existence of external perturbations and system uncertainties. For this purpose, a composite control is constituted by two consecutive steps. First, the reduced-order ESO (RESO) technique is designed to estimate unknown system states and total disturbance without estimating an available state. Second, the continuous SMC law is designed based on the estimations supplied by the RESO estimator in order to govern the nominal system part. More importantly, the robustness performance is well achieved by compensating not only the lumped disturbance, but also its estimation error. Finally, the tracking performance is examined by carrying out several simulations on robotic systems with compliant actuators as an application example of the high order systems. In addition, the comparative study is conducted between the proposed SMC method with RESO and a feedback linearization control (FLC) with a full-order ESO to confirm the estimation and tracking performance of the proposed scheme.

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Publication Date
Sat Aug 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Developing Systems Engineering for Sustainable Infrastructure Projects
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Abstract<p>Globally, Sustainability is very quickly becoming a fundamental requirement of the construction industry as it delivers its projects; whether buildings or infrastructures. Throughout more than two decades, many modeling schemes, evaluation tools, and rating systems have been introduced en route to realizing sustainable construction. Many of these, however, lack consensus on evaluation criteria, a robust scientific model that captures the logic behind their sustainability performance evaluation, and therefore experience discrepancies between rated results and actual performance. Moreover, very few of the evaluation tools available satisfactorily address infrastructure projects. The res</p> ... Show More
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Publication Date
Tue Oct 01 2013
Journal Name
Journal Of Economics And Administrative Sciences
Comparison Robust M Estimate With Cubic Smoothing Splines For Time-Varying Coefficient Model For Balance Longitudinal Data
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In this research، a comparison has been made between the robust estimators of (M) for the Cubic Smoothing Splines technique، to avoid the problem of abnormality in data or contamination of error، and the traditional estimation method of Cubic Smoothing Splines technique by using two criteria of differentiation which are (MADE، WASE) for different sample sizes and disparity levels to estimate the chronologically different coefficients functions for the balanced longitudinal data which are characterized by observations obtained through (n) from the independent subjects، each one of them is measured repeatedly by group of  specific time points (m)،since the frequent measurements within the subjects are almost connected an

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Publication Date
Thu Jun 30 2022
Journal Name
Journal Of Economics And Administrative Sciences
Comparing Some of Robust the Non-Parametric Methods for Semi-Parametric Regression Models Estimation
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In this research, some robust non-parametric methods were used to estimate the semi-parametric regression model, and then  these methods were compared using the MSE comparison criterion, different sample sizes, levels of variance, pollution rates, and three different models were used. These methods are S-LLS S-Estimation -local smoothing, (M-LLS)M- Estimation -local smoothing, (S-NW) S-Estimation-NadaryaWatson Smoothing, and (M-NW) M-Estimation-Nadarya-Watson Smoothing.

The results in the first model proved that the (S-LLS) method was the best in the case of large sample sizes, and small sample sizes showed that the

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Publication Date
Wed Apr 19 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Derivation of Mathematical Equations to Calculate the Geographical Coordinates of Unknown Position Situated at a Distance from the Observer Position Using GPS Data
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     This research introduced the derivation of mathematical equations to calculate the Cartesian and geographical coordinates of a site situated at a far distance from the observer position by using GPS data. The geographical coordinates (Ï•obs., λ obs., hobs.) for observer position were transformed to Cartesian coordinates (X obs., Y obs., Z obs.) of observer position itself. Then the Cartesian coordinates of unknown position mathematically were calculated from these calculated equations, and its transformed to geographical coordinates of (Ï•unk., λunk.) position.
 

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Publication Date
Sat Apr 01 2023
Journal Name
Fluid Phase Equilibria
Prediction of solubility of vitamins in the mixed solvents using equation of state
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Publication Date
Wed Jan 01 2025
Journal Name
Journal Of Interdisciplinary Mathematics
Double INEM-transform integral for solving second order partial differential equation
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In this study, a brand-new double transform known as the double INEM transform is introduced. Combined with the definition and essential features of the proposed double transform, new findings on partial derivatives, Heaviside function, are also presented. Additionally, we solve several symmetric applications to show how effective the provided transform is at resolving partial differential equation.

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Publication Date
Thu Oct 20 2022
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Iterative Method for Solving a Nonlinear Fourth Order Integro-Differential Equation
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This study presents the execution of an iterative technique suggested by Temimi and Ansari (TA) method to approximate solutions to a boundary value problem of a 4th-order nonlinear integro-differential equation (4th-ONIDE) of the type Kirchhoff which appears in the study of transverse vibration of hinged shafts. This problem is difficult to solve because there is a non-linear term under the integral sign, however, a number of authors have suggested iterative methods for solving this type of equation. The solution is obtained as a series that merges with the exact solution. Two examples are solved by TA method, the results showed that the proposed technique was effective, accurate, and reliable. Also, for greater reliability, the approxim

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Publication Date
Sat Jan 01 2022
Journal Name
Proceeding Of The 1st International Conference On Advanced Research In Pure And Applied Science (icarpas2021): Third Annual Conference Of Al-muthanna University/college Of Science
Efficient approach for solving high order (2+1)D-differential equation
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Publication Date
Mon May 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Application of Iterative Method for Solving Higher Order Integro-Differential Equations
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The main aim of this paper is to apply a new technique suggested by Temimi and Ansari namely (TAM) for solving higher order Integro-Differential Equations. These equations are commonly hard to handle analytically so it is request numerical methods to get an efficient approximate solution. Series solutions of the problem under consideration are presented by means of the Iterative Method (IM). The numerical results show that the method is effective, accurate and easy to implement rapidly convergent series to the exact solution with minimum amount of computation. The MATLAB is used as a software for the calculations.           

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Publication Date
Sun Sep 01 2024
Journal Name
Partial Differential Equations In Applied Mathematics
Perturbation iteration transform method for solving fractional order integro-differential equation
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