All Outputs (7)

A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments (2023)
Presentation / Conference Contribution
Aro, K., Urvina, R., Deniz, N. N., Menendez, O., Iqbal, J., & Prado, A. (2023, September). A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments. Presented at 2023 IEEE Conference on AgriFood Electronics (CAFE), Torino, Italy

This research presents an integrated trajectory planning strategy with a motion control approach using a Nonlinear Model Predictive Control (NMPC) framework for Skid-Steer Mobile Robots (SSMRs) in agricultural scenarios. In a single architecture, the... Read More about A Nonlinear Model Predictive Controller for Trajectory Planning of Skid-Steer Mobile Robots in Agricultural Environments.

EMG Controlled Modular Prosthetic Hand–Design and Prototyping (2023)
Book Chapter
Suddaby, A., & Iqbal, J. (2023). EMG Controlled Modular Prosthetic Hand–Design and Prototyping. In X.-S. Yang, R. S. Sherratt, N. Dey, & A. Joshi (Eds.), Proceedings of Eighth International Congress on Information and Communication Technology : ICICT 2023 (97-107). Springer. https://doi.org/10.1007/978-981-99-3043-2_8

Prosthetic hands can be essential for those without a biological hand(s) to accomplish everyday tasks but the cost, of up to tens of thousands, keeps them out of reach for many people. This paper reports on the development of a low-cost affordable an... Read More about EMG Controlled Modular Prosthetic Hand–Design and Prototyping.

Design and Adaptive Compliance Control of a Wearable Walk Assist Device (2023)
Presentation / Conference Contribution
Shah, S. H., Alam, M. S., Arsalan, M., Ul Haq, I., Khan, S. G., & Iqbal, J. (2023, March). Design and Adaptive Compliance Control of a Wearable Walk Assist Device. Presented at 2023 International Conference on Robotics and Automation in Industry (ICRAI), Peshawar, Pakistan

The ability to walk independently is a predominant feature that human beings are bestowed with by nature. People with moving disabilities face many challenges in day-to-day activities and they have to rely on others to perform their day-to-day activi... Read More about Design and Adaptive Compliance Control of a Wearable Walk Assist Device.

Model predictive control of consensus-based energy management system for DC microgrid (2023)
Journal Article
Ali, S. U., Waqar, A., Aamir, M., Qaisar, S. M., & Iqbal, J. (2023). Model predictive control of consensus-based energy management system for DC microgrid. PLoS ONE, 18(1), Article e0278110. https://doi.org/10.1371/journal.pone.0278110

The increasing deployment and exploitation of distributed renewable energy source (DRES) units and battery energy storage systems (BESS) in DC microgrids lead to a promising research field currently. Individual DRES and BESS controllers can operate a... Read More about Model predictive control of consensus-based energy management system for DC microgrid.

A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds (2023)
Journal Article
Riaz, S., Qi, R., Tutsoy, O., & Iqbal, J. (2023). A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds. PLoS ONE, 18(1), Article e0279253. https://doi.org/10.1371/journal.pone.0279253

High precision demands in a large number of emerging robotic applications strengthened the role of the modern control laws in the position control of the Permanent Magnet Synchronous Motor (PMSM) servo system. This paper proposes a learning-based ada... Read More about A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds.

A featureless approach for object detection and tracking in dynamic environments (2023)
Journal Article
Zohaib, M., Ahsan, M., Khan, M., & Iqbal, J. (2023). A featureless approach for object detection and tracking in dynamic environments. PLoS ONE, 18(1), Article e0280476. https://doi.org/10.1371/journal.pone.0280476

One of the challenging problems in mobile robotics is mapping a dynamic environment for navigating robots. In order to disambiguate multiple moving obstacles, state-of-art techniques often solve some form of dynamic SLAM (Simultaneous Localization an... Read More about A featureless approach for object detection and tracking in dynamic environments.

Neural network and URED observer based fast terminal integral sliding mode control for energy efficient polymer electrolyte membrane fuel cell used in vehicular technologies (2023)
Journal Article
Javaid, U., Mehmood, A., Iqbal, J., & Uppal, A. A. (2023). Neural network and URED observer based fast terminal integral sliding mode control for energy efficient polymer electrolyte membrane fuel cell used in vehicular technologies. Energy, 269, Article 126717. https://doi.org/10.1016/j.energy.2023.126717

In this research work, a Neural Network (NN) and Uniform Robust Exact Differentiator (URED) observer-based Fast Terminal Integral Sliding Mode Control (FTISMC) has been proposed for Oxygen Excess Ratio (OER) regulation of a Polymer Electrolyte Membra... Read More about Neural network and URED observer based fast terminal integral sliding mode control for energy efficient polymer electrolyte membrane fuel cell used in vehicular technologies.