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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.

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges (2019)
Journal Article
Iqbal, J., Al-Zahrani, A., Alharbi, S. A., & Hashmi, A. (2019). Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges. IEEE Access, 7, 174898-174923. https://doi.org/10.1109/ACCESS.2019.2957013

The domain of Robotics is a good partner of renewable energy and is becoming critical to the sustainability and survival of the energy industry. The multi-disciplinary nature of robots offers precision, repeatability, reliability, productivity and in... Read More about Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges.

Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator (2019)
Journal Article
Awan, Z. S., Ali, K., Iqbal, J., & Mehmood, A. (2019). Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator. Journal of Electrical Engineering & Technology, 14(6), 2497-2504. https://doi.org/10.1007/s42835-019-00277-9

The purpose of this research is to propose and design fault tolerant control (FTC) scheme for a robotic manipulator, to increase its reliability and performance in the presence of actuator and sensor faults. To achieve the said objectives, a hybrid c... Read More about Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator.

Modern control laws for an articulated robotic arm: Modeling and simulation (2019)
Journal Article
Iqbal, J. (2019). Modern control laws for an articulated robotic arm: Modeling and simulation. Engineering, Technology and Applied Science Research, 9(2), 4057-4061. https://doi.org/10.48084/etasr.2598

The robotic manipulator has become an integral component of modern industrial automation. The current paper deals with the mathematical modeling and non-linear control of this manipulator. DH-parameters are used to derive kinematic model while the dy... Read More about Modern control laws for an articulated robotic arm: Modeling and simulation.

Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform (2019)
Journal Article
Khan, S. G., Bendoukha, S., Naeem, W., & Iqbal, J. (2019). Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform. Advances in Electrical and Electronic Engineering, 17(3), 275-284. https://doi.org/10.15598/aeee.v17i3.3031

In this paper, an enhanced Integral Sliding Mode-based Linear Quadratic Gaussian (ISM-LQG) controller has been proposed and verified in real-time on a Twin Rotor multi-input-multi-output MIMO System (TRMS). A TRMS serves as a suitable laboratorybased... Read More about Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform.

Gain-scheduled proportional integral derivative control of taxi model of unmanned aerial vehicles (2019)
Journal Article
Wasim, M., Ullah, M., & Iqbal, J. (2019). Gain-scheduled proportional integral derivative control of taxi model of unmanned aerial vehicles. Revue Roumaine des Sciences Techniques : Série Électrotechnique et Énergétique, 64(1), 75-80

Unmanned aerial vehicles (UAVs) are extensively used for defense and surveillance applications. To ensure desirable performance under all conditions, a UAV requires an appropriate control strategy. For the design of control law, a complete understand... Read More about Gain-scheduled proportional integral derivative control of taxi model of unmanned aerial vehicles.