Mohammed Chenafa

École Nationale Polytechnique d'Oran, Polytechnic School of Algiers

Papers

Total Citations

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About

Mohammed Chenafa is a researcher specializing in robotics and control systems, with a particular focus on flexible manipulator dynamics and advanced control strategies. His work centers on developing sophisticated mathematical frameworks for modeling and controlling flexible robotic systems, addressing the inherent challenges posed by structural flexibility, parametric uncertainties, and nonlinear dynamics. Chenafa's most notable contribution is his work on passivity-based adaptive control for single-link flexible manipulators, published in 2021 and accumulating 11 citations. This research employs a combined Euler–Lagrange formalism and assumed modes method to derive accurate system dynamics, proposing an adaptive control strategy capable of handling significant parametric uncertainties — a critical challenge in real-world robotic applications. Building on this foundation, his 2024 research extends these methodologies to more complex two-link flexible manipulator systems carrying payloads, utilizing Euler–Bernoulli beam theory to address vibration and strain control challenges. His contributions are particularly valuable to researchers working on lightweight robotic arms, space manipulators, and industrial automation systems where structural flexibility cannot be ignored. By combining rigorous mathematical modeling with practical adaptive control solutions, Chenafa's work advances the field's understanding of how to achieve precise, stable control in inherently complex flexible robotic structures.