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A novel class of adaptive observers for dynamic nonlinear uncertain systems (2023)
Journal Article
Alkhayyat, A., Zalzala, A. M., AL-Salih, A. A., Jawad, A. J. A. M., Abdul-Adheem, W. R., Iqbal, J., …Hameed, A. S. (in press). A novel class of adaptive observers for dynamic nonlinear uncertain systems. Expert Systems, https://doi.org/10.1111/exsy.13412

Numerous techniques have been proposed in the literature to improve the performance of high-gain observers with noisy measurements. One such technique is the linear extended state observer, which is used to estimate the system's states and to account... Read More about A novel class of adaptive observers for dynamic nonlinear uncertain systems.

Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation (2023)
Journal Article
Choudhry, O. A., Wasim, M., Ali, A., Choudhry, M. A., & Iqbal, J. (2023). Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation. PLoS ONE, 18(8), e0285495. https://doi.org/10.1371/journal.pone.0285495

A comprehensive literature review of self-balancing robot (SBR) provides an insight to the strengths and limitations of the available control techniques for different applications. Most of the researchers have not included the payload and its variati... Read More about Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation.

Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor (2023)
Journal Article
Afifa, R., Ali, S., Pervaiz, M., & Iqbal, J. (2023). Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor. Robotics, 12(4), Article 105. https://doi.org/10.3390/robotics12040105

This research proposes a robust nonlinear hybrid control approach to the speed control of a multi-input-and-multi-output separately excited DC motor (SEDCM). The motor that was under consideration experienced parametric uncertainties and load disturb... Read More about Adaptive Backstepping Integral Sliding Mode Control of a MIMO Separately Excited DC Motor.

Robust MPPT Control of Stand-Alone Photovoltaic Systems via Adaptive Self-Adjusting Fractional Order PID Controller (2023)
Journal Article
Saleem, O., Ali, S., & Iqbal, J. (2023). Robust MPPT Control of Stand-Alone Photovoltaic Systems via Adaptive Self-Adjusting Fractional Order PID Controller. Energies, 16(13), Article 5039. https://doi.org/10.3390/en16135039

The Photovoltaic (PV) system is an eco-friendly renewable energy system that is integrated with a DC-DC buck-boost converter to generate electrical energy as per the variations in solar irradiance and outdoor temperature. This article proposes a nove... Read More about Robust MPPT Control of Stand-Alone Photovoltaic Systems via Adaptive Self-Adjusting Fractional Order PID Controller.

Development of CAVLAB—A Control-Oriented MATLAB Based Simulator for an Underground Coal Gasification Process (2023)
Journal Article
Ahmed, A., Javed, S. B., Uppal, A. A., & Iqbal, J. (2023). Development of CAVLAB—A Control-Oriented MATLAB Based Simulator for an Underground Coal Gasification Process. Mathematics, 11(11), Article 2493. https://doi.org/10.3390/math11112493

The Cavity Simulation Model (CAVSIM) is a 3D, parameterisable simulator of the Underground Coal Gasification Process (UCG) that serves as a benchmark for UCG prediction. Despite yielding accurate outputs, CAVSIM has some limitations, which chiefly in... Read More about Development of CAVLAB—A Control-Oriented MATLAB Based Simulator for an Underground Coal Gasification Process.

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.

Information Rich Voxel Grid for Use in Heterogeneous Multi-Agent Robotics (2023)
Journal Article
Balding, S., Gning, A., Cheng, Y., & Iqbal, J. (2023). Information Rich Voxel Grid for Use in Heterogeneous Multi-Agent Robotics. Applied Sciences, 13(8), Article 5065. https://doi.org/10.3390/app13085065

Robotic agents are now ubiquitous in both home and work environments; moreover, the degree of task complexity they can undertake is also increasing exponentially. Now that advanced robotic agents are commonplace, the question for utilisation becomes... Read More about Information Rich Voxel Grid for Use in Heterogeneous Multi-Agent Robotics.

Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode (2023)
Journal Article
Labbadi, M., Iqbal, J., Djemai, M., Boukal, Y., & Bouteraa, Y. (2023). Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode. PLoS ONE, 18(4), Article e0283195. https://doi.org/10.1371/journal.pone.0283195

This paper presents a finite-time approach for tracking control of a quadrotor system subjected to external disturbances and model uncertainties. The proposed approach offers a preassigned performance guarantee. Firstly, integral terminal sliding man... Read More about Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode.

Efficient optimization techniques for resource allocation in UAVs mission framework (2023)
Journal Article
Razzaq, S., Xydeas, C., Mahmood, A., Ahmed, S., Ratyal, N. I., & Iqbal, J. (2023). Efficient optimization techniques for resource allocation in UAVs mission framework. PLoS ONE, 18(4), Article e0283923. https://doi.org/10.1371/journal.pone.0283923

This paper considers the generic problem of a central authority selecting an appropriate subset of operators in order to perform a process (i.e. mission or task) in an optimized manner. The subset is selected from a given and usually large set of 'n'... Read More about Efficient optimization techniques for resource allocation in UAVs mission framework.

Static anti-windup compensator design for locally Lipschitz systems under input and output delays (2023)
Journal Article
Hameed, M. J., Rehan, M., Iqbal, M., Hussain, M., Saqib, N. U., & Iqbal, J. (2023). Static anti-windup compensator design for locally Lipschitz systems under input and output delays. PLoS ONE, 18(4 April), Article e0283734. https://doi.org/10.1371/journal.pone.0283734

This paper proposes a static anti-windup compensator (AWC) design methodology for the locally Lipschitz nonlinear systems, containing time-varying interval delays in input and output of the system in the presence of actuator saturation. Static AWC de... Read More about Static anti-windup compensator design for locally Lipschitz systems under input and output delays.

Precision agricultural robotic sprayer with real-time Tobacco recognition and spraying system based on deep learning (2023)
Journal Article
Nasir, F. E., Tufail, M., Haris, M., Iqbal, J., Khan, S., & Khan, M. T. (2023). Precision agricultural robotic sprayer with real-time Tobacco recognition and spraying system based on deep learning. PLoS ONE, 18(3 MARCH), Article e0283801. https://doi.org/10.1371/journal.pone.0283801

Precision agricultural techniques try to prevent either an excessive or inadequate application of agrochemicals during pesticide application. In recent years, it has become popular to combine traditional agricultural practices with artificial intelli... Read More about Precision agricultural robotic sprayer with real-time Tobacco recognition and spraying system based on deep learning.

A robust variable-structure LQI controller for under-Actuated systems via flexible online adaptation of performance-index weights (2023)
Journal Article
Saleem, O., Iqbal, J., & Afzal, M. S. (2023). A robust variable-structure LQI controller for under-Actuated systems via flexible online adaptation of performance-index weights. PLoS ONE, 18(3 March), Article e0283079. https://doi.org/10.1371/journal.pone.0283079

This article presents flexible online adaptation strategies for the performance-index weights to constitute a variable structure Linear-Quadratic-Integral (LQI) controller for an underactuated rotary pendulum system. The proposed control procedure un... Read More about A robust variable-structure LQI controller for under-Actuated systems via flexible online adaptation of performance-index weights.

Avoiding contingent incidents by quadrotors due to one or two propellers failure (2023)
Journal Article
Altınuç, K. O., Khan, M. U., & Iqbal, J. (2023). Avoiding contingent incidents by quadrotors due to one or two propellers failure. PLoS ONE, 18(3), Article e0282055. https://doi.org/10.1371/journal.pone.0282055

With the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3... Read More about Avoiding contingent incidents by quadrotors due to one or two propellers failure.

Certainty equivalence-based robust sliding mode control strategy and its application to uncertain PMSG-WECS (2023)
Journal Article
Chand, A., Khan, Q., Alam, W., Khan, L., & Iqbal, J. (2023). Certainty equivalence-based robust sliding mode control strategy and its application to uncertain PMSG-WECS. PLoS ONE, 18(2), Article e0281116. https://doi.org/10.1371/journal.pone.0281116

This work focuses on maximum power extraction via certainty equivalence-based robust sliding mode control protocols for an uncertain Permanent Magnet Synchronous Generator-based Wind Energy Conversion System (PMSG-WECS). The considered system is subj... Read More about Certainty equivalence-based robust sliding mode control strategy and its application to uncertain PMSG-WECS.

Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation (2023)
Journal Article
Saleem, O., Abbas, F., & Iqbal, J. (2023). Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation. Mathematics, 11(4), Article 913. https://doi.org/10.3390/math11040913

This article presents a systematic approach to formulate and experimentally validate a novel Complex Fractional Order (CFO) Linear Quadratic Integral Regulator (LQIR) design to enhance the robustness of inverted-pendulum-type robotic mechanisms again... Read More about Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation.

Chattering Free Sliding Mode Control and State Dependent Kalman Filter Design for Underground Gasification Energy Conversion Process (2023)
Journal Article
Ahmad, S., Uppal, A. A., Azam, M. R., & Iqbal, J. (2023). Chattering Free Sliding Mode Control and State Dependent Kalman Filter Design for Underground Gasification Energy Conversion Process. Electronics, 12(4), Article 876. https://doi.org/10.3390/electronics12040876

The fluctuations in the heating value of an underground coal gasification (UCG) process limit its application in electricity generation, where a desired composition of the combustible gases is required to operate gas turbines efficiently. This shortc... Read More about Chattering Free Sliding Mode Control and State Dependent Kalman Filter Design for Underground Gasification Energy Conversion Process.

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.