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A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An Experimental Study (2024)
Journal Article
Abbas, N., Liu, X., & Iqbal, J. (2024). A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An Experimental Study. PLoS ONE, 19(3), Article e0300305. https://doi.org/10.1371/journal.pone.0300305

This article introduces a cutting-edge H∞ model-based control method for uncertain Multi Input Multi Output (MIMO) systems, specifically focusing on UAVs, through a flexible mixed-optimization framework using the Method of Inequality (MOI). The propo... Read More about A flexible mixed-optimization with H∞ control for coupled twin rotor MIMO system based on the method of inequality (MOI)- An Experimental Study.

Minimum Distance and Minimum Time Optimal Path Planning with Bioinspired Machine Learning Algorithms for Impaired Unmanned Air Vehicles (2024)
Journal Article
Tutsoy, O., Hendoustani, D., Ahmadi, K., Nabavi, Y., & Iqbal, J. (in press). Minimum Distance and Minimum Time Optimal Path Planning with Bioinspired Machine Learning Algorithms for Impaired 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 Impaired Unmanned Air Vehicles.

Compact rover surveying and laser scanning for BIM development (2024)
Journal Article
Jafri, S. R. U. N., Hussain, S. M., Ahmed, A., Rizvi, S. A. H., Kazmi, K. H., & Iqbal, J. (2024). Compact rover surveying and laser scanning for BIM development. PLoS ONE, 19(3 March), Article e0301273. https://doi.org/10.1371/journal.pone.0301273

This paper presents a custom made small rover based surveying, mapping and building information modeling solution. Majority of the commercially available mobile surveying systems are larger in size which restricts their maneuverability in the targete... Read More about Compact rover surveying and laser scanning for BIM development.

Application of hybrid control algorithm for the vehicle active suspension system to reduce the vibration (2024)
Journal Article
Anh Nguyen, T., Iqbal, J., Thu Huong Tran, T., & Binh Hoang, T. (2024). Application of hybrid control algorithm for the vehicle active suspension system to reduce the vibration. Advances in Mechanical Engineering, 16(3), https://doi.org/10.1177/16878132241239816

This research proposes a hybrid control algorithm to enhance smoothness in a vehicle’s motion. The control signal is synthesized from two separate controllers, Proportional Integral Derivative (PID) and Sliding Mode Control (SMC), to achieve superior... Read More about Application of hybrid control algorithm for the vehicle active suspension system to reduce the vibration.

Adaptive optimal control of twin-rotor helicopter system; Meta-heuristics and Lyapunov based approach (2024)
Journal Article
Rezoug, A., Messah, A., Ahmed Messaoud, W., Baizid, K., & Iqbal, J. (2024). Adaptive optimal control of twin-rotor helicopter system; Meta-heuristics and Lyapunov based approach. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 46, 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 control of twin-rotor helicopter system; Meta-heuristics and Lyapunov based approach.

Nonlinear control of two-stage single-phase standalone photovoltaic system (2024)
Journal Article
Latif, A., Khan, L., Agha, S., Mumtaz, S., & Iqbal, J. (2024). Nonlinear control of two-stage single-phase standalone photovoltaic system. PLoS ONE, 19(2), Article 0297612. https://doi.org/10.1371/journal.pone.0297612

This paper presents a single-phase Photovoltaic (PV) inverter with its superior and robust control in a standalone mode. Initially, modeling and layout of the Buck-Boost DC-DC converter by adopting a non-linear Robust Integral Back-stepping controlle... Read More about Nonlinear control of two-stage single-phase standalone photovoltaic system.

Passivity-based Rieman Liouville fractional order sliding mode control of three phase inverter in a grid-connected photovoltaic system (2024)
Journal Article
Khan, L., Khan, L., Agha, S., Hafeez, K., & Iqbal, J. (2024). Passivity-based Rieman Liouville fractional order sliding mode control of three phase inverter in a grid-connected photovoltaic system. PLoS ONE, 19(2), Article e0296797. https://doi.org/10.1371/journal.pone.0296797

Photovoltaic (PV) system parameters are always non-linear due to variable environmental conditions. The Maximum power point tracking (MPPT) is difficult under multiple uncertainties, disruptions and the occurrence of time-varying stochastic condition... Read More about Passivity-based Rieman Liouville fractional order sliding mode control of three phase inverter in a grid-connected photovoltaic system.

Fuzzy fault-tolerant controller with guaranteed performance for MIMO nonlinearly systems under uncertain initial state (2024)
Journal Article
Yin, C., Riaz, S., Arshad Uppal, A., & Iqbal, J. (in press). Fuzzy fault-tolerant controller with guaranteed performance for MIMO nonlinearly systems under uncertain initial state. International journal of control, automation and systems, 22,

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 nonlinearly systems under uncertain initial state.

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.

Robust CNN architecture for classification of reach and grasp actions from neural correlates: an edge device perspective (2023)
Journal Article
Sultan, H., Ijaz, H., Waris, A., Mushtaq, S., Mushtaq, K., Khan, N. B., …Iqbal, J. (2024). Robust CNN architecture for classification of reach and grasp actions from neural correlates: an edge device perspective. Measurement Science and Technology, 35(3), Article 035703. https://doi.org/10.1088/1361-6501/ad1157

Brain-computer interfaces (BCIs) systems traditionally use machine learning (ML) algorithms that require extensive signal processing and feature extraction. Deep learning (DL)-based convolutional neural networks (CNNs) recently achieved state-of-the-... Read More about Robust CNN architecture for classification of reach and grasp actions from neural correlates: an edge device perspective.

Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification (2023)
Journal Article
Saleem, O., Rizwan, M., & Iqbal, J. (2023). Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification. PLoS ONE, 18(12), Article e0295153. https://doi.org/10.1371/journal.pone.0295153

This paper formulates an innovative model-free self-organizing weight adaptation that strengthens the robustness of a Linear Quadratic Regulator (LQR) for inverted pendulum-like mechatronic systems against perturbations and parametric uncertainties.... Read More about Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification.

Breaking barriers in higher education: Implementation of cost-effective social constructivism in engineering education (2023)
Journal Article
Khalid, A., Kazim, T., Diaz, K. R. V., & Iqbal, J. (in press). Breaking barriers in higher education: Implementation of cost-effective social constructivism in engineering education. International Journal of Mechanical Engineering Education, https://doi.org/10.1177/03064190231218123

Social constructivism is considered the main driver of curriculum overhaul for the new set of learning in the digital age. Implementation of cost-effective solutions of social constructivism in higher education is a challenge. The paper circumnavigat... Read More about Breaking barriers in higher education: Implementation of cost-effective social constructivism in engineering education.

Investigation of vibration’s effect on driver in optimal motion cueing algorithm (2023)
Journal Article
Ahmad, H., Tariq, M., Yasin, A., Razzaq, S., Chaudhry, M. A., Shaikh, I. U. H., …Iqbal, J. (2023). Investigation of vibration’s effect on driver in optimal motion cueing algorithm. PLoS ONE, 18(11 November), Article e0290705. https://doi.org/10.1371/journal.pone.0290705

The increased sensation error between the surroundings and the driver is a major problem in driving simulators, resulting in unrealistic motion cues. Intelligent control schemes have to be developed to provide realistic motion cues to the driver. The... Read More about Investigation of vibration’s effect on driver in optimal motion cueing algorithm.

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.

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.