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| 1 | Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators显示文摘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 necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness. | Mezghani Ben Romdhane Neila Damak Tarak | 2011 | International Journal of Automation and computing2011，8，2： | 15 |
| 2 | Robust Adaptive Control for Mobile Manipulators显示文摘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. | Mohamed Boukattaya Tarak Damak Mohamed Jallouli | 2011 | International Journal of Automation and computing2011，8，1： | 4 |
| 3 | A Sliding Mode Observer for Uncertain Nonlinear Systems Based on Multiple Models Approach显示文摘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 matrix 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. | Kd s Hfa edh Karim Dahech Tarak Damak | 2017 | International Journal of Automation and computing2017，14，2： | 2 |
| 4 | Oral administration of Eucalyptus globulus extract reduces the alloxan-induced oxidative stress in rats显示文摘 | Soussi Ahlem Hamden Khaled Marouane Wafa Bezzine Sofiane Damak Mohamed Murat Jean-Claude El Feki Abdelfattah | 2009 | Chemico-Biological Interactions2009，，1： | 2 |
| 5 | Taste-signaling proteins are coexpressed in solitary intestinal epithelial cells 显示文摘 | Bezencon C le Coutre J Damak S | 2007 | Chem Senses2007，32，： | 1 |
| 6 | Selecting a test for the clinical assessment of balance and walking capacity at the definitive fitting state after unilateral amputation: a compara- tive study 显示文摘 | Gremeaux V Damak S Troisgros O | 2012 | Prosthet Orthot Int2012，36，4： | 1 |
| 7 | Improved wool production in transgenic sheep expressing insulin like growth factor 显示文摘 | Damak S Su H Jay N P | 1996 | Biotechnology (N Y)1996，14，2： | 1 |
| 8 | Experimental investigation of helical Savonius rotor with a twist of 180°显示文摘 | A. Damak Z. Driss M.S. Abid | 2013 | Renewable Energy2013，，： | 1 |
| 9 | Hypoglycemic and antioxidant effects of phenolic extracts and purified hydroxytyrosol from olive mill waste in vitro and in rats显示文摘 | Hamden K Allouche N Damak M | 2009 | Chem Biol Interact2009，180，3： | 1 |
| 10 | The use of a euteetic mixture of olive pomace oil fatty amides to easily prepare sulfated amides applied as lime soap dispersants显示文摘 | Rais F Baati R Damak N | 2008 | Journal of the American Oil Chemists'' Society2008，85，： | 1 |
| 11 | Improved wool production in transgenic sheep expressing insulin - like growth factor I 显示文摘 | DAMAK S SU H JAY N P | 1996 | Bio- technology(NY)1996，14，2： | 1 |
| 12 | Improved wool production in transgenie sheep expressing insulin-like growth factor 1 显示文摘 | Damak S Su H Y Jay N P | 1996 | BioTechnology1996，14，： | 1 |
| 13 | Differenti- al Evolution for Solving Multi-Mode Resource-Constrain- ed Project Scheduling Problems显示文摘 | DAMAK N JARBOUI B SIARRY P | 2009 | Computers and Op- erations Research2009，36，9： | 1 |
| 14 | Prognostic factors and clinicopathologic characteristics of invasive adencarcinoma of the uterine cervix显示文摘 | Chargui R Damak T Khornsi B | 2006 | Am J Obstet Gyneeol2006，194，1： | 1 |
| 15 | Taste preference for fatty acids is mediated by GPR40 and GPR120显示文摘 | Cartoni C Yasumatsu K Ohkuri T Shigemura N Yoshida R Godinot N le Coutre J Ninomiya Y Damak S | | 0，，25： | 1 |
| 16 | Chemical composition, cytotoxicity effect and antimicrobial activity of Ceratonia siliqua essential oil with preservative effects against Listeria inoculated in minced beef meat显示文摘 | Anis Ben Hsouna Mohamed Trigui Riadh Ben Mansour Raoudha Mezghani Jarraya Mohamed Damak Samir Jaoua | 2011 | International Journal of Food Microbiology2011，，1： | 1 |
| 17 | Preva- lence and Impact of Anxiety and Depression on Type 2 Diabetes in Tunisian Patients over Sixty Years Old 显示文摘 | Jawaher Masmoudi Rahma Damak Hela Zouari | 2013 | Depression research and treatment2013，2013，34： | 1 |
| 18 | A combinatorial particle swarm optimization for solving multi-mode resource-constrained project scheduling problems显示文摘 | Jarboui B Damak N Siarry P | 2008 | Applied Mathematics and Computation2008，195，1： | 1 |
| 19 | Use of Whole Cells of Pseudomonas aeruginosa for Synthesis of the Antioxidant Hydroxytyrosol via Conversion of Tyrosol显示文摘 | Allouche N Damak M EIIouz R | 2004 | ApplEnviron Microbiol2004，，： | 1 |
| 20 | Improved wool production in transgenic sheep expressing insulinlike growth factor 1显示文摘 | Sami Damak Hung-Yi Su Nigel P Jay | 1996 | Biotechnology1996，14，： | 1 |
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