All Outputs (152)

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)
Conference Proceeding
Shah, S. H., Alam, M. S., Arsalan, M., Ul Haq, I., Khan, S. G., & Iqbal, J. (2023). Design and Adaptive Compliance Control of a Wearable Walk Assist Device. In 2023 International Conference on Robotics and Automation in Industry (ICRAI). https://doi.org/10.1109/ICRAI57502.2023.10089580

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.

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.

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.

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.

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.

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.

Fuzzy-Immune-Regulated Adaptive Degree-of-Stability LQR for a Self-Balancing Robotic Mechanism: Design and HIL Realization (2023)
Journal Article
Saleem, O., & Iqbal, J. (2023). Fuzzy-Immune-Regulated Adaptive Degree-of-Stability LQR for a Self-Balancing Robotic Mechanism: Design and HIL Realization. IEEE Robotics and Automation Letters, https://doi.org/10.1109/LRA.2023.3286176

This letter formulates a fuzzy-immune adaptive system for the online adjustment of the Degree-of-Stability (DoS) of Linear-Quadratic-Regulator (LQR) procedure to strengthen the disturbance attenuation capacity of a self-balancing mechatronic system.... Read More about Fuzzy-Immune-Regulated Adaptive Degree-of-Stability LQR for a Self-Balancing Robotic Mechanism: Design and HIL Realization.

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.