Hakim Denoun

Mouloud Mammeri University of Tizi-Ouzou

Papers

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About

Hakim Denoun is a researcher specializing in advanced control systems for industrial robotics, with a particular focus on sliding mode and backstepping control strategies. His work centers on enhancing the precision and robustness of robotic manipulators, notably the PUMA 560 model, a classic platform in robotics research. Denoun’s major contributions include demonstrating the effectiveness of sliding mode control for three-dimensional robotic systems, as evidenced by his most-cited paper (13 citations), which investigates the application of this nonlinear control law to improve trajectory tracking and disturbance rejection. He has also pioneered the implementation of backstepping control on FPGA hardware, using tools like HDL Coder and Xilinx Zedboard Zynq to achieve real-time performance. His 2023 paper on FPGA-in-the-loop backstepping control (7 citations) showcases how hardware acceleration can bridge theoretical control design and practical deployment. More recently, Denoun has compared backstepping control with computed torque control for industrial robots (2 citations), offering insights into trade-offs between computational efficiency and control accuracy. His work is notable for integrating cutting-edge FPGA technology with classical control theory, making advanced robotics more accessible for real-world applications.