Growth in Islamic Economy

A major proof viewed by the Islamic universe today is the proof of re-making and reorganizing the economy in such a way seen as similar to the motivation of Sharia’h work. Money-related new development is one of the topics that in a general sense is termed as a science that offers a technique to show the science of monetary angles. Nevertheless, the standard technique, which has been assembled, is being considered for dissatisfaction in dealing with the issues of the Ummah, for example, despair, backwardness in human resources (HR), and achievement in proper position and life, and even a matter of natural change. Sadly, those conditions are found overwhelmingly in the Muslim world, where they have essentially manifested and represented in Muslim life. Moreover, it seems that the uniqueness of the Muslim world has been challenging, that is, it is typically rich in asset but still weak and poor. As for the path, in Muslim society, there is an ignorance of the achievements of motivation. Thus, there is no possible norm to find the emergence of different methodologies within the Islamic structure, surprisingly in the area of ​​money-related to unforeseen development.

Modeling and Control for Trajectory Tracking and Multi-Robot Formation of Nonholonomic Wheeled Mobile Robots

Wheeled mobile robots (WMRs) are difficult to stabilize and control due to nonholonomic constraints. The complexity of control increases when there is a need to control a group of WMRs in a specific formation. The research described in the thesis concerns the modeling, control and formation of nonholonomic WMRs for trajectory tracking. In particular, this research work proposes novel control approaches for WMR trajectory tracking and formation control of multi-robot system. The kinematic model of WMR is studied, and then various kinematic controllers have been implemented to identify suitable kinematic controller for WMR trajectory tracking using performance based simulation results. The trajectory tracking problem is extended by including the dynamic model of WMR along with the model uncertainties and disturbances. A novel adaptive sliding mode state feedback control law is proposed for trajectory tracking, which includes the integral action and hence it is able to remove the steady state errors and reject the external disturbances. The proposed adaptive dynamic controller uses velocities as input commands, which is more practical and appropriate from the view-point of real-time application. The proposed dynamic state feedback controller requires all the states specially WMR linear and angular velocities. Therefore, the trajectory tracking control problem is addressed again in the context of output feedback control for WMR. The tracking formulation is defined with the high gain observer to estimate the linear and angular velocities. It is shown that using high gain observer and a globally bounded state feedback stabilizing controller, the close-loop system performance can be recovered in the presence of un-modeled dynamics. The formation control problem of vi multi-robot system is addressed using leader-follower formation approach. The kinematic model of the leader-follower formation is developed in the presence of uncertainties and disturbances. It is followed by an integral terminal sliding mode control for robust formation control and finite-time convergence. The proposed controller eliminates the requirement of leader’s velocity information which increases the reliability of multi-robot system. Obstacle detection and collision avoidance are incorporated to maintain the desired formation in the presence of obstacles. The stability analyses is carried out using Lyapunov stability theory. The performances are verified and validated using time invariant and time varying trajectories.