All Outputs (121)

Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation (2021)
Journal Article
Ali, K., Mehmood, A., Muhammad, I., Razzaq, S., & Iqbal, J. (2021). Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation. Strojniški vestnik - Journal of Mechanical Engineering, 67(9), 401-410. https://doi.org/10.5545/sv-jme.2021.7258

Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators i... Read More about Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation.

Optimization of fuzzy logic quadrotor attitude controller - particle swarm, Cuckoo search and BAT algorithms (2021)
Journal Article
Siddiq Zatout, M., Rezoug, A., Rezoug, A., Baizid, K., & Iqbal, J. (2021). Optimization of fuzzy logic quadrotor attitude controller - particle swarm, Cuckoo search and BAT algorithms. International Journal of Systems Science, https://doi.org/10.1080/00207721.2021.1978012

Bio-inspired optimisation algorithms have recently attracted much attention in the control community. Most of these algorithms mimic particular behaviours of some animal species in such a way that allows solving optimisation problems. The present pap... Read More about Optimization of fuzzy logic quadrotor attitude controller - particle swarm, Cuckoo search and BAT algorithms.

Fault-tolerant scheme for robotic manipulator -Nonlinear robust back-stepping control with friction compensation (2021)
Journal Article
Ali, K., Mehmood, A., & Iqbal, J. (2021). Fault-tolerant scheme for robotic manipulator -Nonlinear robust back-stepping control with friction compensation. PLoS ONE, 16(8), Article e0256491. https://doi.org/10.1371/journal.pone.0256491

Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. T... Read More about Fault-tolerant scheme for robotic manipulator -Nonlinear robust back-stepping control with friction compensation.

A deterministic approach for design of supervisory control of LPV systems with delay (2021)
Journal Article
Zahid, C. N., Salim, M., Riaz, R. A., & Iqbal, J. (2021). A deterministic approach for design of supervisory control of LPV systems with delay. PLoS ONE, 16(8), Article e0256408. https://doi.org/10.1371/journal.pone.0256408

Linear Parameter Varying (LPV) systems and their control have gained attraction recently as they approximate nonlinear systems with higher order than ordinary linear systems. On the other hand, time delay is an inherent part of various real-life appl... Read More about A deterministic approach for design of supervisory control of LPV systems with delay.

Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach (2021)
Conference Proceeding
Mechali, O., Iqbal, J., Mechali, A., Xie, X., & Xu, L. (2021). Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach. In IEEE International Conference on Mechatronics and Automation, ICMA 2021 (1170-1175). https://doi.org/10.1109/ICMA52036.2021.9512751

This research addresses the problem of robust attitude control for a quadrotor operating in an environment polluted with lumped disturbances. A new continuous terminal sliding mode-based active anti-disturbance control (CTSMBAADC) is proposed by inno... Read More about Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach.

Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances (2021)
Conference Proceeding
Mechali, O., Iqbal, J., Wang, J., Xie, X., & Xu, L. (2021). Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances. In 2021 IEEE International Conference on Mechatronics and Automation (1442-1447). https://doi.org/10.1109/ICMA52036.2021.9512623

This paper proposes a novel control scheme for a group of quadrotors aircrafts that form a leader-follower configuration and are subjected to nonlinear behavior with lumped disturbances. For each aircraft, a distributed formation control law is desig... Read More about Distributed Leader-Follower Formation Control of Quadrotors Swarm Subjected to Disturbances.

UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control (2021)
Journal Article
Ullah, N., Mehmood, Y., Aslam, J., Ali, A., & Iqbal, J. (2021). UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control. IEEE Access, 9, 74385-74405. https://doi.org/10.1109/ACCESS.2021.3081483

Leader follower formation of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has found numerous applications such as surveillance of critical infrastructure, industrial automation and disaster management emergency. For completion... Read More about UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control.

Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment (2021)
Journal Article
Mechali, O., Iqbal, J., Xie, X., Xu, L., & Senouci, A. (2021). Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment. International Journal of Aerospace Engineering, 2021, Article 5522379. https://doi.org/10.1155/2021/5522379

This paper presents an accurate solution of finite-time Cartesian trajectory tracking control problem of a quadrotor system by designing and implementing a novel robust flight-control algorithm. The quadrotor is subject to nonlinearities, unmodeled d... Read More about Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment.

System architecture of a proactive intelligent system to monitor health of older adults living alone (2021)
Journal Article
Al-Mejibli, I., Al-Majeed, S., Karam, J., Iqbal, J., Adolfo, C. M., & Yalung, C. (2021). System architecture of a proactive intelligent system to monitor health of older adults living alone. International Journal of Computing and Digital Systems, 10(1), 509-517. https://doi.org/10.12785/IJCDS/100149

Worldwide improvements in the quality of life highlight immense need to have a remote health monitoring system that can provide critical biomedical data. This paper presents a low-cost health monitoring system, forming part of the Internet of Things... Read More about System architecture of a proactive intelligent system to monitor health of older adults living alone.

A new perspective on teaching the natural exponential to engineering students (2021)
Journal Article
Ullah, M., Aman, M. N., Wolkenhauer, O., & Iqbal, J. (2021). A new perspective on teaching the natural exponential to engineering students. International Journal of Mathematical Education in Science and Technology, https://doi.org/10.1080/0020739X.2021.1896812

The natural exponential and logarithm are typically introduced to undergraduate engineering students in a calculus course using the notion of limits. We here present an approach to introduce the natural exponential/logarithm through a novel interpret... Read More about A new perspective on teaching the natural exponential to engineering students.

Nonlinear adaptive backstepping control of permanent magnet synchronous motor (2021)
Journal Article
Ali, N., Alam, W., Pervaiz, M., & Iqbal, J. (2021). Nonlinear adaptive backstepping control of permanent magnet synchronous motor. Revue Roumaine des Sciences Techniques : Série Électrotechnique et Énergétique, 66(1), 9-14

This paper addresses the speed tracking problem of a permanent magnet synchronous motor (PMSM) under the influence of parametric uncertainties and external load torque disturbances. The nonlinear dynamics associated with both PMSM and load is conside... Read More about Nonlinear adaptive backstepping control of permanent magnet synchronous motor.

Comparative review of pipelines monitoring and leakage detection techniques (2020)
Conference Proceeding
Aljuaid, K. G., Albuoderman, M. A., Alahmadi, E. A., & Iqbal, J. (2020). Comparative review of pipelines monitoring and leakage detection techniques. In 2nd International Conference on Computer and Information Sciences (ICCIS). https://doi.org/10.1109/ICCIS49240.2020.9257602

The oil and gas industry owns expensive and widely-spread assets. Any fault in this complex transportation network may result in accidents and/or huge losses thereby triggering various environmental and economic issues. Thus, real-time monitoring and... Read More about Comparative review of pipelines monitoring and leakage detection techniques.

Predictive control using active aerodynamic surfaces to improve ride quality of a vehicle (2020)
Journal Article
Ahmad, E., Iqbal, J., Khan, M. A., Liang, W., & Youn, I. (2020). Predictive control using active aerodynamic surfaces to improve ride quality of a vehicle. Electronics, 9(9), Article 1463. https://doi.org/10.3390/electronics9091463

This work presents a predictive control strategy for a four degrees of freedom (DOF) half-car model in the presence of active aerodynamic surfaces. The proposed control strategy consists of two parts: the feedback control deals with the tracking erro... Read More about Predictive control using active aerodynamic surfaces to improve ride quality of a vehicle.

Operational Efficiency Improvement of PEM Fuel Cell - A Sliding Mode Based Modern Control Approach (2020)
Journal Article
Javaid, U., Mehmood, A., Arshad, A., Imtiaz, F., & Iqbal, J. (2020). Operational Efficiency Improvement of PEM Fuel Cell - A Sliding Mode Based Modern Control Approach. IEEE Access, 8, 95823-95831. https://doi.org/10.1109/ACCESS.2020.2995895

The efficiency and durability of a Proton Exchange Membrane Fuel Cell (PEMFC) can be improved with proper controller design to regulate the flow of reactants, cell stack temperature and humidity of the membrane. In this paper, sliding mode controller... Read More about Operational Efficiency Improvement of PEM Fuel Cell - A Sliding Mode Based Modern Control Approach.

Hypnosis regulation in propofol anaesthesia employing super-twisting sliding mode control to compensate variability dynamics (2020)
Journal Article
Ilyas, M., Iqbal, J., Ahmad, S., Uppal, A. A., Imtiaz, W. A., & Riaz, R. A. (2020). Hypnosis regulation in propofol anaesthesia employing super-twisting sliding mode control to compensate variability dynamics. IET Systems Biology, 14(2), 59-67. https://doi.org/10.1049/iet-syb.2018.5080

Regulation of hypnosis level on bi-spectral index monitor (BIS) during a surgical procedure in propofol anaesthesia administration is a challenging task for an anaesthesiologist in multi-tasking environment of the operation theater. Automation in ana... Read More about Hypnosis regulation in propofol anaesthesia employing super-twisting sliding mode control to compensate variability dynamics.

Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter (2020)
Journal Article
Ullah, S., Mehmood, A., Khan, Q., Rehman, S., & Iqbal, J. (2020). Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter. International journal of control, automation and systems, 18(7), 1671-1678. https://doi.org/10.1007/s12555-019-0302-3

In this paper, a robust backstepping integral sliding mode control (RBISMC) technique is designed for the flight control of a quadcopter, which is an under-actuated nonlinear system. First, the mathematical model of this highly coupled and under-actu... Read More about Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter.

Estimation of Surgical Needle Insertion Force Using Kalman Filter (2020)
Journal Article
Jafri, S. R. U. N., Jamshaid, A., Jafri, S. M. U. N., & Iqbal, J. (2020). Estimation of Surgical Needle Insertion Force Using Kalman Filter. Journal of Electrical Engineering & Technology, 15(2), 899-906. https://doi.org/10.1007/s42835-020-00355-3

This paper presents a novel low-cost technique to measure the insertion force of a surgical needle on a testing surface to check needle strength. A combination of a load cell with a current sensor for a linear DC motor has been used to estimate the i... Read More about Estimation of Surgical Needle Insertion Force Using Kalman Filter.

On the improvement of calibration accuracy of parallel robots - Modeling and optimization (2020)
Journal Article
Bentaleb, T., & Iqbal, J. (2020). On the improvement of calibration accuracy of parallel robots - Modeling and optimization. Journal of Theoretical and Applied Mechanics (Poland), 58(1), 261-272. https://doi.org/10.15632/JTAM-PL/115863

This paper proposes kinematic based calibration methods for Delta parallel robots. The boundary of the robot workspace is computed using a forward kinematic model. Influence of errors in kinematic parameters on the workspace boundaries is investigate... Read More about On the improvement of calibration accuracy of parallel robots - Modeling and optimization.

Rigid 3d registration algorithm for localization of the vertebral centroids in 3d deformity models of adolescent idiopathic scoliosis (2020)
Journal Article
Ćuković, S. M., Taylor, W., Luković, V., Ghionea, I., Baizid, K., Iqbal, J., & Karuppasamy, S. (2020). Rigid 3d registration algorithm for localization of the vertebral centroids in 3d deformity models of adolescent idiopathic scoliosis. Computer-Aided Design and Applications, 17(6), 1313-1325. https://doi.org/10.14733/cadaps.2020.1313-1325

In this paper, we developed a methodology for a non-invasive 3D diagnosis based on a digitized dorsal surface of the patient enabling assessment and monitoring of Adolescent Idiopathic Scoliosis (AIS). We applied a novel 3D registration algorithm, wh... Read More about Rigid 3d registration algorithm for localization of the vertebral centroids in 3d deformity models of adolescent idiopathic scoliosis.

Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer (2019)
Journal Article
Alam, W., Ahmad, S., Mehmood, A., & Iqbal, J. (2019). Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer. Interdisciplinary Description of Complex Systems, 17(1), 85-97. https://doi.org/10.7906/indecs.17.1.11

In a flexible joint robotic manipulator, parametric variations and external disturbances result in mismatch uncertainties thus posing a great challenge in terms of manipulator’s control. This article investigates non-linear control algorithms for des... Read More about Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer.