Papers
23
Total Citations
205
H-Index
10
About
Sahar Jenhani is a rising star in the field of nonlinear control theory for robotic systems, with a focused expertise in the position control of Lagrangian-type robots and rehabilitation exoskeletons. Her work is distinguished by a systematic approach to designing and comparing nonlinear control laws—such as PD with gravity compensation and affine PD controllers—to achieve robust, stable motion in robotic manipulators and lower-limb assistive devices. A hallmark of her research is the innovative use of Linear Matrix Inequalities (LMI) to formulate and solve control design problems, enabling the development of robust state-feedback and affine controllers that guarantee stability even under dynamic uncertainties. With her most cited paper, “Comparison Between Some Nonlinear Controllers for the Position Control of Lagrangian-type Robotic Systems” (2022, 21 citations), she has established a benchmark for evaluating controller performance. Her cumulative impact is demonstrated by over 130 citations across her top ten publications, with a particular emphasis on knee rehabilitation exoskeletons—a critical application for restoring mobility in individuals with locomotor disorders. Jenhani’s work not only advances theoretical control design but also provides practical, computationally tractable solutions for real-world robotic systems, making her a key contributor to the intersection of control engineering and rehabilitation robotics.
Research Focus
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