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Stabilization of Nanholonomic Systems

Thesis Info

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Author

Waseem Abbasi

Program

PhD

Institute

Capital University of Science & Technology

City

Islamabad

Province

Islamabad.

Country

Pakistan

Thesis Completing Year

2018

Thesis Completion Status

Completed

Subject

Control Systems

Language

English

Link

http://prr.hec.gov.pk/jspui/bitstream/123456789/10889/1/Waseem%20Abbasi_Control%20Sys_2018_CUST_PRR.pdf

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676727231600

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The stabilization problem of nonholonomic systems, for many reasons, has been an active research topic for the last three decades. A key motivation for this research stems from the fact that nonholonomic systems pose considerable chal lenges to control system designers. Nonholonomic systems are not stabilizable by smooth time-invariant state-feedback control laws, and hence, the use of dis continuous controllers, time-varying controllers, and hybrid controllers is needed. Systems such as wheeled mobile robots, underwater vehicles, and underactuated satellites are common real-world applications of nonholonomic systems, and their stabilization is of significant interest from a control point of view. Nonholonomic systems are, therefore, a principal motivation to develop methodologies that allow the construction of feedback control laws for the stabilization of such systems. In this dissertation, the stabilization of nonholonomic systems is addressed using three different methods. The first part of this thesis deals with the stabilization of nonholonomic systems with drift and the proposed algorithm is applied to a rigid body and an extended nonholonomic double integrator system. In this technique, an adaptive backstepping based control algorithm is proposed for stabilization. This is achieved by transforming the original system into a new system which can be asymptotically stabilized. Once the new system is stabilized, the stability of the original system is established. Lyapunov theory is used to establish the stability of the closed-loop system. The effectiveness of the proposed control algorithm is tested, and the results are compared to existing methods. The second part of this dissertation proposes control algorithm for the stabilization of drift-free nonholonomic systems. First, the system is transformed, by using in put transformation, into a particular structure containing a nominal part and some unknown terms that are computed adaptively. The transformed system is then stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control. The Lyapunov stability theory is used to derive the compensator control and the adaptive laws. The proposed control algorithm is applied to three different nonholonomic drift-free systems: the unicycle model, the front-wheel car model, and the mobile robot with trailer model. Numerical results show the effectiveness of the proposed control algorithm. In the last part of this dissertation, a new solution to stabilization problem of non holonomic systems that are transformable into chained form is investigated. The smooth super twisting sliding mode control technique is used to stabilize nonholo nomic systems. Firstly, the nonholonomic system is transformed into a chained form system that is further decomposed into two subsystems. Secondly, the second subsystem is stabilized to the origin using the smooth super twisting sliding mode control. Finally, the first subsystem is steered to zero using the signum function. The proposed method is applied to three nonholonomic systems, which are trans formable into chained form; the two-wheel car model, the model of front-wheel car, and the firetruck model. Numerical computer simulations show the effectiveness of the proposed method when applied to chained form nonholonomic systems. This research work is mainly focused on the design of feedback control laws for the stabilization of nonholonomic systems with different structures. For this purpose, the methodologies adopted are based upon adaptive backstepping, adaptive inte gral sliding mode control, and smooth super twisting sling mode control technique. The control laws are formulated using Lyapunov stability analysis. In all cases, the control laws design for the transformed models is derived first, which is then used to achieve the overall control design of the kinematic model of particular nonholonomic systems. Numerical simulation results confirm the effectiveness of these approaches.
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Study of the Apoptotic Role of Granzyme H Before and After Chemotherapy of Breast Cancer

Breast cancer is the most common type of cancer—related mortality among women world-wide. Physiological changes of the patients were noted. Comparative study of analytical assay of GzmH was carried out in two different methods using serum samples of normal subjects with breast cancer patients of same age, socio—economic background and environmental conditions. One method is by using the substrate PARP and isocoumarin inhibitor. Other one is electrophoresis. It is found that the electrophoretic technique as compared to using substrate can be used for the detection of granzyme H is simple, accurate, and quick and may give better results than enzyme substrate assay. Identification by electrophoresis shows GzmH having a mass of appearance 32 KDa. 3D structure of GzmH was constructed by Modeller 9.0 in order to find out the different sites of granzyme. It showed highest homology with GzmB. The predicted 3D homology models show a conserved two similar domain structure, i.e., an N—terminal domain and a C—terminal domain comprising predominantly of beta—sheet structure with a little alpha—helical content. The basic mechanism of the role of GzmH like other granzymes especially GzmB, showed that the Gzm having two cationic sites; cs1and cs2. These binding sites participate in the binding of Gzm to cell surface thereby Ipromoting its uptake and release from the cytotoxic lymphocytes to the cell cytoplasm of virus or tumor or cell undergo autolysis. In the cell it causes the cleavage of proteins at its specific site like tyrosine or phenylalanine shows chymotrypsin-like activity. This cleavage stimulate the process of proteolysis which may cause the mitochondrial disruption (caspase independent pathway), it is predicted that cystiene residues present near the catalytic residues Ser202 and Cys49 may help in triggering the cell death in a caspase dependent manner. Besides this pathway GzmH may stimulate the conversion of procaspase to caspase which acts on the nuclear protein like Poly-amino ribose polymerase and causes DNA fragmentation that leads to cell death (caspase dependent pathway). However, significant differences between GzmH and GzmB in the X- ray structure and the protein model lie at the important functional sites. In the crystal structure of GzmB the catalytic triad is His57, Ser195 and Asp102, while in GzmH the catalytic triad is His64, Ser202 and Asp108. An ideal peptide present as cs1 site of GzmH. The peptide may promote the conversion of pro-caspase to caspase which successively cause cell death. A segment of Gly214 to Asn220 is present near the catalytic triad of GzmH. This segment may provide a template for substrate binding bulges out of the active site. On the other hand, a hydrophobic patch of Trp238, Ileu239, Lys240 and Arg241 present in the helical form that provides a site for enzyme substrate interaction. IIEnzyme inhibitor study showed that the inhibitor CMK (MAI-Pro-DPN) act as competitive inhibitor for GzmH which totally inhibit the enzyme activity by forming number of H-bonds with catalytic triad. The enzyme inhibitor study may be useful to probe and discuss the disease state with which they are associated. Present study tried to mutate amino acids of granzyme H but only few showed significant effect of mutation e.g., mutation of Lys222→Ala222 & Pro225®Arg225 causes to change their distance with the cs2 which may affect on the stability of cs2. The mutation of Lys222 to Ala markedly decreased the surface accessibility. It is stated that this mutation in turn may affect the uptake of GzmH into target cells; cytoplasmic distribution with reduced accumulation in target cell; and slightly impaired cytotoxicity of GzmH. Arg55 forms number of H—bonds with other amino acids and thereby showed apoptotic promoting activity, present near the peptide of cationic site cs1. It is observed that the mutation of Arg55®Gly55 causes the loss of H- bonds between mutated Gly to Asp57. It is therefore possible that mutation of Arg may affect the cytotoxic activity of GzmH. Mutational effect of Arg116 to Glu also observed. Present study observed that mutation of Arg116 to Glu may lose its H—bonds and salt bridges with Glu115. This shows that the mutation of both Arg55 and Arg116 affects the cytotoxic activity of GzmH. Asp210 is near to the cs2 binding site of GzmH. This mutation from Asp210—Gly210 may affect the H—bonding pattern of cs2 which may reduce IIIbinding to heparin; slightly reduced uptake into target cells; cytoplasmic distribution with reduced accumulation in cell; and in turn may impaired cytotoxicity. It is therefore concluded that GzmH due to its important functional effects may have diagnostic importance and it may be used as a tumor marker in breast cancer.