All Outputs (99)

Fuzzy-Augmented Model Reference Adaptive PID Control Law Design for Robust Voltage Regulation in DC–DC Buck Converters (2024)
Journal Article
Saleem, O., Rasheed Ahmad, K., & Iqbal, J. (2024). Fuzzy-Augmented Model Reference Adaptive PID Control Law Design for Robust Voltage Regulation in DC–DC Buck Converters. Mathematics, 12(12), Article 1893. https://doi.org/10.3390/math12121893

This paper presents a novel fuzzy-augmented model reference adaptive voltage regulation strategy for the DC–DC buck converters to enhance their resilience against random input variations and load-step transients. The ubiquitous proportional-integral-... Read More about Fuzzy-Augmented Model Reference Adaptive PID Control Law Design for Robust Voltage Regulation in DC–DC Buck Converters.

Improving stability and adaptability of automotive electric steering systems based on a novel optimal integrated algorithm (2024)
Journal Article
Nguyen, T. A., & Iqbal, J. (2024). Improving stability and adaptability of automotive electric steering systems based on a novel optimal integrated algorithm. Engineering Computations, 41(4), 991-1034. https://doi.org/10.1108/EC-10-2023-0675

Purpose: Design a novel optimal integrated control algorithm for the automotive electric steering system to improve the stability and adaptation of the system. Design/methodology/approach: Simulation and calculation. Findings: The output signals foll... Read More about Improving stability and adaptability of automotive electric steering systems based on a novel optimal integrated algorithm.

Fuzzy Fault-tolerant Controller With Guaranteed Performance for MIMO Systems Under Uncertain Initial State (2024)
Journal Article
Yin, C. W., Riaz, S., Uppal, A. A., & Iqbal, J. (2024). Fuzzy Fault-tolerant Controller With Guaranteed Performance for MIMO Systems Under Uncertain Initial State. International journal of control, automation and systems, 22(6), 2038-2054. https://doi.org/10.1007/s12555-023-0327-5

It is always problematic that the initial value of the trajectory tracking error must be inside the area included in the prescribed performance constraint function. To overcome this problem, a novel fault-tolerant control strategy is designed for a s... Read More about Fuzzy Fault-tolerant Controller With Guaranteed Performance for MIMO Systems Under Uncertain Initial State.

Minimum Distance and Minimum Time Optimal Path Planning With Bioinspired Machine Learning Algorithms for Faulty Unmanned Air Vehicles (2024)
Journal Article
Tutsoy, O., Asadi, D., Ahmadi, K., Nabavi-Chashmi, S. Y., & Iqbal, J. (2024). Minimum Distance and Minimum Time Optimal Path Planning With Bioinspired Machine Learning Algorithms for Faulty Unmanned Air Vehicles. IEEE Transactions on Intelligent Transportation Systems, https://doi.org/10.1109/TITS.2024.3367769

Unmanned air vehicles operate in highly dynamic and unknown environments where they can encounter unexpected and unseen failures. In the presence of emergencies, autonomous unmanned air vehicles should be able to land at a minimum distance or minimum... Read More about Minimum Distance and Minimum Time Optimal Path Planning With Bioinspired Machine Learning Algorithms for Faulty Unmanned Air Vehicles.

Adaptive-optimal MIMO nonsingular terminal sliding mode control of twin-rotor helicopter system: meta-heuristics and super-twisting based control approach (2024)
Journal Article
Rezoug, A., Messah, A., Messaoud, W. A., Baizid, K., & Iqbal, J. (2024). Adaptive-optimal MIMO nonsingular terminal sliding mode control of twin-rotor helicopter system: meta-heuristics and super-twisting based control approach. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 46(3), Article 162. https://doi.org/10.1007/s40430-024-04714-3

This research proposes a novel hybrid control technique based on nonsingular terminal sliding mode (NTSM) control, metaheuristic optimization algorithms and adaptive super-twisting based on Lyapunov stability analysis for controlling Quanser aero sim... Read More about Adaptive-optimal MIMO nonsingular terminal sliding mode control of twin-rotor helicopter system: meta-heuristics and super-twisting based control approach.

Robust GDI-based adaptive recursive sliding mode control (RGDI-ARSMC) for a highly nonlinear MIMO system with varying dynamics of UAV (2024)
Journal Article
Abbas, N., Liu, X., & Iqbal, J. (2024). Robust GDI-based adaptive recursive sliding mode control (RGDI-ARSMC) for a highly nonlinear MIMO system with varying dynamics of UAV. Journal of mechanical science and technology, 38(3), https://doi.org/10.1007/s12206-024-0234-6

The novelty of the proposed work lies in the control technique, referred to as the robust generalized dynamic inversion based adaptive recursive sliding mode control (RGDI-ARSMC), for addressing various challenges to control a highly coupled and pert... Read More about Robust GDI-based adaptive recursive sliding mode control (RGDI-ARSMC) for a highly nonlinear MIMO system with varying dynamics of UAV.

Experimental development of lightweight manipulators with improved design cycle time that leverages off-the-shelf robotic arm components (2024)
Journal Article
Abbas, M. R., Ahsan, M., & Iqbal, J. (2024). Experimental development of lightweight manipulators with improved design cycle time that leverages off-the-shelf robotic arm components. PLoS ONE, 19(7), Article e0305379. https://doi.org/10.1371/journal.pone.0305379

The growing market for lightweight robots inspires new use-cases, such as collaborative manipulators for human-centered automation. However, widespread adoption faces obstacles due to high R&D costs and longer design cycles, although rapid advances i... Read More about Experimental development of lightweight manipulators with improved design cycle time that leverages off-the-shelf robotic arm components.

Phase-Based Adaptive Fractional LQR for Inverted-Pendulum-Type Robots: Formulation and Verification (2024)
Journal Article
Saleem, O., & Iqbal, J. (2024). Phase-Based Adaptive Fractional LQR for Inverted-Pendulum-Type Robots: Formulation and Verification. IEEE Access, 12, 93185-93196. https://doi.org/10.1109/ACCESS.2024.3415494

The underlying principles of inverted pendulums are widely applied to develop stabilization control strategies for under-actuated robotic systems in various applications. This article methodically designs an adaptive fractional-order linear quadratic... Read More about Phase-Based Adaptive Fractional LQR for Inverted-Pendulum-Type Robots: Formulation and Verification.

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.

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.

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.

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.

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.

Complex-order PID controller design for enhanced blood-glucose regulation in Type-I diabetes patients (2023)
Journal Article
Saleem, O., & Iqbal, J. (2023). Complex-order PID controller design for enhanced blood-glucose regulation in Type-I diabetes patients. Measurement and Control, https://doi.org/10.1177/00202940231189504

Type-I Diabetes (TID) is a chronic autoimmune disease that elevates the glucose levels in the patient’s bloodstream. This paper formulates a fractional complex-order Proportional-Integral-Derivative (PID) control strategy for robust Blood Glucose (BG... Read More about Complex-order PID controller design for enhanced blood-glucose regulation in Type-I diabetes patients.

Characterization and calibration of multiple 2D laser scanners (2022)
Journal Article
Riaz un Nabi Jafri, S., Shamim, S., Faraz, S. M., Ahmed, A., Yasir, S. M., & Iqbal, J. (2022). Characterization and calibration of multiple 2D laser scanners. PLoS ONE, 17(7), Article e0272063. https://doi.org/10.1371/journal.pone.0272063

This paper presents the comparative evaluation of multiple compact and lightweight 2D laser scanners for their possible backpack based scanning and mapping applications. These scanners include Hokuyo URG-04LX, Slamtec RPLidar A1-M8 and Hokuyo UTM- 30... Read More about Characterization and calibration of multiple 2D laser scanners.

Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator (2022)
Journal Article
Rezoug, A., Iqbal, J., & Tadjine, M. (2022). Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, https://doi.org/10.1177/09596518221099768

This article proposes a novel hybrid metaheuristic technique based on nonsingular terminal sliding mode controller, time delay estimation method, an extended grey wolf optimization algorithm and adaptive super twisting control law. The fast convergen... Read More about Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator.

Performance comparison of structured H∞ based looptune and LQR for a 4-DOF robotic manipulator (2022)
Journal Article
Asghar, A., Iqbal, M., Khaliq, A., Rehman, S. U., & Iqbal, J. (2022). Performance comparison of structured H∞ based looptune and LQR for a 4-DOF robotic manipulator. PLoS ONE, 17(4), Article e0266728. https://doi.org/10.1371/journal.pone.0266728

We explore looptune, a MATLAB-based structured H1 synthesis technique in the context of robotics. Position control of a 4 Degree of Freedom (DOF) serial robotic manipulator developed using Simulink is the problem under consideration. Three full state... Read More about Performance comparison of structured H∞ based looptune and LQR for a 4-DOF robotic manipulator.