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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 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.

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.

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.

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.

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.

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.

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.

Theory and practice for autonomous formation flight of quadrotors via distributed robust sliding mode control protocol with fixed-time stability guarantee (2022)
Journal Article
Mechali, O., Xu, L., Xie, X., & Iqbal, J. (2022). Theory and practice for autonomous formation flight of quadrotors via distributed robust sliding mode control protocol with fixed-time stability guarantee. Control engineering practice, 123, Article 105150. https://doi.org/10.1016/j.conengprac.2022.105150

A detailed theoretical design and technological implementation aspects are presented in this paper to address the aerial formation control problem of networked quadrotors with a fixed-time stability property. The control algorithm is embedded in a di... Read More about Theory and practice for autonomous formation flight of quadrotors via distributed robust sliding mode control protocol with fixed-time stability guarantee.

Maximum Power Extraction from a Standalone Photo Voltaic System via Neuro-Adaptive Arbitrary Order Sliding Mode Control Strategy with High Gain Differentiation (2022)
Journal Article
Anjum, M. B., Khan, Q., Ullah, S., Hafeez, G., Fida, A., Iqbal, J., & R. Albogamy, F. (2022). Maximum Power Extraction from a Standalone Photo Voltaic System via Neuro-Adaptive Arbitrary Order Sliding Mode Control Strategy with High Gain Differentiation. Applied Sciences, 12(6), Article 2773. https://doi.org/10.3390/app12062773

In this work, a photovoltaic (PV) system integrated with a non-inverting DC-DC buck-boost converter to extract maximum power under varying environmental conditions such as irradiance and temperature is considered. In order to extract maximum power (v... Read More about Maximum Power Extraction from a Standalone Photo Voltaic System via Neuro-Adaptive Arbitrary Order Sliding Mode Control Strategy with High Gain Differentiation.

Performance improvement in polymer electrolytic membrane fuel cell based on nonlinear control strategies—A comprehensive study (2022)
Journal Article
Javaid, U., Iqbal, J., Mehmood, A., & Uppal, A. A. (2022). Performance improvement in polymer electrolytic membrane fuel cell based on nonlinear control strategies—A comprehensive study. PLoS ONE, 17(2 February), Article e0264205. https://doi.org/10.1371/journal.pone.0264205

A Polymer Electrolytic Membrane Fuel Cell (PEMFC) is an efficient power device for automobiles, but its efficiency and life span depend upon its air delivery system. To ensure improved performance of PEMFC, the air delivery system must ensure proper... Read More about Performance improvement in polymer electrolytic membrane fuel cell based on nonlinear control strategies—A comprehensive study.

Fixed-time nonlinear homogeneous sliding mode approach for robust tracking control of multirotor aircraft: Experimental validation (2022)
Journal Article
Mechali, O., Xu, L., Xie, X., & Iqbal, J. (2022). Fixed-time nonlinear homogeneous sliding mode approach for robust tracking control of multirotor aircraft: Experimental validation. Journal of The Franklin Institute, 359(5), 1971-2029. https://doi.org/10.1016/j.jfranklin.2022.01.010

This paper presents a robust scheme for fixed-time tracking control of a multirotor system. The aircraft is subjected to matched lumped disturbances, i.e., unmodeled dynamics, parameters uncertainties, and external perturbations besides measurement n... Read More about Fixed-time nonlinear homogeneous sliding mode approach for robust tracking control of multirotor aircraft: Experimental validation.

Neural network-based adaptive global sliding mode MPPT controller design for stand-alone photovoltaic systems (2022)
Journal Article
Haq, I. U., Khan, Q., Ullah, S., Ahmed Khan, S., Akmeliawati, R., Khan, M. A., & Iqbal, J. (2022). Neural network-based adaptive global sliding mode MPPT controller design for stand-alone photovoltaic systems. PLoS ONE, 17(1), Article e0260480. https://doi.org/10.1371/journal.pone.0260480

The increasing energy demand and the target to reduce environmental pollution make it essential to use efficient and environment-friendly renewable energy systems. One of these systems is the Photovoltaic (PV) system which generates energy subject to... Read More about Neural network-based adaptive global sliding mode MPPT controller design for stand-alone photovoltaic systems.

Collaborative position control of pantograph robot using particle swarm optimization (2022)
Journal Article
Ali, N., Ayaz, Y., & Iqbal, J. (2022). Collaborative position control of pantograph robot using particle swarm optimization. International journal of control, automation, and systems, 20(1), 198-207. https://doi.org/10.1007/s12555-019-0931-6

This article presents the design and real-time implementation of an optimal collaborative approach to obtain the desired trajectory tracking of two Degree of Freedom (DOF) pantograph end effector position. The proposed controller constructively syner... Read More about Collaborative position control of pantograph robot using particle swarm optimization.

Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation (2022)
Journal Article
Ali, K., Ullah, S., Mehmood, A., Mostafa, H., Marey, M., & Iqbal, J. (2022). Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation. IEEE Access, 10, 3378-3389. https://doi.org/10.1109/ACCESS.2021.3139041

In robotic manipulators, feedback control of nonlinear systems with fast finite-time convergence is desirable. However, because of the parametric and model uncertainties, the robust control and tuning of the robotic manipulators pose many challenges... Read More about Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation.

Unscented Kalman filter for airship model uncertainties and wind disturbance estimation (2021)
Journal Article
Wasim, M., Ali, A., Ahmad Choudhry, M., Saleem, F., Shaikh, I. U. H., & Iqbal, J. (2021). Unscented Kalman filter for airship model uncertainties and wind disturbance estimation. PLoS ONE, 16(11 November), Article e0257849. https://doi.org/10.1371/journal.pone.0257849

An airship is lighter than an air vehicle with enormous potential in applications such as communication, aerial inspection, border surveillance, and precision agriculture. An airship model is made up of dynamic, aerodynamic, aerostatic, and propulsiv... Read More about Unscented Kalman filter for airship model uncertainties and wind disturbance estimation.

Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations (2021)
Journal Article
Mehmood, Y., Aslam, J., Ullah, N., Alsheikhy, A. A., Din, E. U., & Iqbal, J. (2021). Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations. PLoS ONE, 16(11), Article 0258909. https://doi.org/10.1371/journal.pone.0258909

Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such... Read More about Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.

Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation (2021)
Journal Article
Ali, K., Mehmood, A., Muhammad, I., Razzaq, S., & Iqbal, J. (2021). Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation. Strojniški vestnik - Journal of Mechanical Engineering, 67(9), 401-410. https://doi.org/10.5545/sv-jme.2021.7258

Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators i... Read More about Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation.

Optimization of fuzzy logic quadrotor attitude controller - particle swarm, Cuckoo search and BAT algorithms (2021)
Journal Article
Siddiq Zatout, M., Rezoug, A., Rezoug, A., Baizid, K., & Iqbal, J. (2021). Optimization of fuzzy logic quadrotor attitude controller - particle swarm, Cuckoo search and BAT algorithms. International Journal of Systems Science, https://doi.org/10.1080/00207721.2021.1978012

Bio-inspired optimisation algorithms have recently attracted much attention in the control community. Most of these algorithms mimic particular behaviours of some animal species in such a way that allows solving optimisation problems. The present pap... Read More about Optimization of fuzzy logic quadrotor attitude controller - particle swarm, Cuckoo search and BAT algorithms.

A deterministic approach for design of supervisory control of LPV systems with delay (2021)
Journal Article
Zahid, C. N., Salim, M., Riaz, R. A., & Iqbal, J. (2021). A deterministic approach for design of supervisory control of LPV systems with delay. PLoS ONE, 16(8), Article e0256408. https://doi.org/10.1371/journal.pone.0256408

Linear Parameter Varying (LPV) systems and their control have gained attraction recently as they approximate nonlinear systems with higher order than ordinary linear systems. On the other hand, time delay is an inherent part of various real-life appl... Read More about A deterministic approach for design of supervisory control of LPV systems with delay.

Fault-tolerant scheme for robotic manipulator -Nonlinear robust back-stepping control with friction compensation (2021)
Journal Article
Ali, K., Mehmood, A., & Iqbal, J. (2021). Fault-tolerant scheme for robotic manipulator -Nonlinear robust back-stepping control with friction compensation. PLoS ONE, 16(8), Article e0256491. https://doi.org/10.1371/journal.pone.0256491

Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. T... Read More about Fault-tolerant scheme for robotic manipulator -Nonlinear robust back-stepping control with friction compensation.

UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control (2021)
Journal Article
Ullah, N., Mehmood, Y., Aslam, J., Ali, A., & Iqbal, J. (2021). UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control. IEEE Access, 9, 74385-74405. https://doi.org/10.1109/ACCESS.2021.3081483

Leader follower formation of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has found numerous applications such as surveillance of critical infrastructure, industrial automation and disaster management emergency. For completion... Read More about UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control.

Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment (2021)
Journal Article
Mechali, O., Iqbal, J., Xie, X., Xu, L., & Senouci, A. (2021). Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment. International Journal of Aerospace Engineering, 2021, Article 5522379. https://doi.org/10.1155/2021/5522379

This paper presents an accurate solution of finite-time Cartesian trajectory tracking control problem of a quadrotor system by designing and implementing a novel robust flight-control algorithm. The quadrotor is subject to nonlinearities, unmodeled d... Read More about Robust Finite-Time Trajectory Tracking Control of Quadrotor Aircraft via Terminal Sliding Mode-Based Active Antidisturbance Approach: A PIL Experiment.

System architecture of a proactive intelligent system to monitor health of older adults living alone (2021)
Journal Article
Al-Mejibli, I., Al-Majeed, S., Karam, J., Iqbal, J., Adolfo, C. M., & Yalung, C. (2021). System architecture of a proactive intelligent system to monitor health of older adults living alone. International Journal of Computing and Digital Systems, 10(1), 509-517. https://doi.org/10.12785/IJCDS/100149

Worldwide improvements in the quality of life highlight immense need to have a remote health monitoring system that can provide critical biomedical data. This paper presents a low-cost health monitoring system, forming part of the Internet of Things... Read More about System architecture of a proactive intelligent system to monitor health of older adults living alone.

A new perspective on teaching the natural exponential to engineering students (2021)
Journal Article
Ullah, M., Aman, M. N., Wolkenhauer, O., & Iqbal, J. (2021). A new perspective on teaching the natural exponential to engineering students. International Journal of Mathematical Education in Science and Technology, https://doi.org/10.1080/0020739X.2021.1896812

The natural exponential and logarithm are typically introduced to undergraduate engineering students in a calculus course using the notion of limits. We here present an approach to introduce the natural exponential/logarithm through a novel interpret... Read More about A new perspective on teaching the natural exponential to engineering students.

Nonlinear adaptive backstepping control of permanent magnet synchronous motor (2021)
Journal Article
Ali, N., Alam, W., Pervaiz, M., & Iqbal, J. (2021). Nonlinear adaptive backstepping control of permanent magnet synchronous motor. Revue Roumaine des Sciences Techniques : Série Électrotechnique et Énergétique, 66(1), 9-14

This paper addresses the speed tracking problem of a permanent magnet synchronous motor (PMSM) under the influence of parametric uncertainties and external load torque disturbances. The nonlinear dynamics associated with both PMSM and load is conside... Read More about Nonlinear adaptive backstepping control of permanent magnet synchronous motor.

Predictive control using active aerodynamic surfaces to improve ride quality of a vehicle (2020)
Journal Article
Ahmad, E., Iqbal, J., Khan, M. A., Liang, W., & Youn, I. (2020). Predictive control using active aerodynamic surfaces to improve ride quality of a vehicle. Electronics, 9(9), Article 1463. https://doi.org/10.3390/electronics9091463

This work presents a predictive control strategy for a four degrees of freedom (DOF) half-car model in the presence of active aerodynamic surfaces. The proposed control strategy consists of two parts: the feedback control deals with the tracking erro... Read More about Predictive control using active aerodynamic surfaces to improve ride quality of a vehicle.

Operational Efficiency Improvement of PEM Fuel Cell - A Sliding Mode Based Modern Control Approach (2020)
Journal Article
Javaid, U., Mehmood, A., Arshad, A., Imtiaz, F., & Iqbal, J. (2020). Operational Efficiency Improvement of PEM Fuel Cell - A Sliding Mode Based Modern Control Approach. IEEE Access, 8, 95823-95831. https://doi.org/10.1109/ACCESS.2020.2995895

The efficiency and durability of a Proton Exchange Membrane Fuel Cell (PEMFC) can be improved with proper controller design to regulate the flow of reactants, cell stack temperature and humidity of the membrane. In this paper, sliding mode controller... Read More about Operational Efficiency Improvement of PEM Fuel Cell - A Sliding Mode Based Modern Control Approach.

Hypnosis regulation in propofol anaesthesia employing super-twisting sliding mode control to compensate variability dynamics (2020)
Journal Article
Ilyas, M., Iqbal, J., Ahmad, S., Uppal, A. A., Imtiaz, W. A., & Riaz, R. A. (2020). Hypnosis regulation in propofol anaesthesia employing super-twisting sliding mode control to compensate variability dynamics. IET Systems Biology, 14(2), 59-67. https://doi.org/10.1049/iet-syb.2018.5080

Regulation of hypnosis level on bi-spectral index monitor (BIS) during a surgical procedure in propofol anaesthesia administration is a challenging task for an anaesthesiologist in multi-tasking environment of the operation theater. Automation in ana... Read More about Hypnosis regulation in propofol anaesthesia employing super-twisting sliding mode control to compensate variability dynamics.

Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter (2020)
Journal Article
Ullah, S., Mehmood, A., Khan, Q., Rehman, S., & Iqbal, J. (2020). Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter. International journal of control, automation and systems, 18(7), 1671-1678. https://doi.org/10.1007/s12555-019-0302-3

In this paper, a robust backstepping integral sliding mode control (RBISMC) technique is designed for the flight control of a quadcopter, which is an under-actuated nonlinear system. First, the mathematical model of this highly coupled and under-actu... Read More about Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter.

Estimation of Surgical Needle Insertion Force Using Kalman Filter (2020)
Journal Article
Jafri, S. R. U. N., Jamshaid, A., Jafri, S. M. U. N., & Iqbal, J. (2020). Estimation of Surgical Needle Insertion Force Using Kalman Filter. Journal of Electrical Engineering & Technology, 15(2), 899-906. https://doi.org/10.1007/s42835-020-00355-3

This paper presents a novel low-cost technique to measure the insertion force of a surgical needle on a testing surface to check needle strength. A combination of a load cell with a current sensor for a linear DC motor has been used to estimate the i... Read More about Estimation of Surgical Needle Insertion Force Using Kalman Filter.

On the improvement of calibration accuracy of parallel robots - Modeling and optimization (2020)
Journal Article
Bentaleb, T., & Iqbal, J. (2020). On the improvement of calibration accuracy of parallel robots - Modeling and optimization. Journal of Theoretical and Applied Mechanics (Poland), 58(1), 261-272. https://doi.org/10.15632/JTAM-PL/115863

This paper proposes kinematic based calibration methods for Delta parallel robots. The boundary of the robot workspace is computed using a forward kinematic model. Influence of errors in kinematic parameters on the workspace boundaries is investigate... Read More about On the improvement of calibration accuracy of parallel robots - Modeling and optimization.

Rigid 3d registration algorithm for localization of the vertebral centroids in 3d deformity models of adolescent idiopathic scoliosis (2020)
Journal Article
Ćuković, S. M., Taylor, W., Luković, V., Ghionea, I., Baizid, K., Iqbal, J., & Karuppasamy, S. (2020). Rigid 3d registration algorithm for localization of the vertebral centroids in 3d deformity models of adolescent idiopathic scoliosis. Computer-Aided Design and Applications, 17(6), 1313-1325. https://doi.org/10.14733/cadaps.2020.1313-1325

In this paper, we developed a methodology for a non-invasive 3D diagnosis based on a digitized dorsal surface of the patient enabling assessment and monitoring of Adolescent Idiopathic Scoliosis (AIS). We applied a novel 3D registration algorithm, wh... Read More about Rigid 3d registration algorithm for localization of the vertebral centroids in 3d deformity models of adolescent idiopathic scoliosis.

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.

Human machine interface: robotizing the instinctive living (2018)
Journal Article
Tahir, A. M., Iqbal, J., & Aized, T. (2018). Human machine interface: robotizing the instinctive living. International Robotics & Automation Journal, 4(5), 308-314. https://doi.org/10.15406/iratj.2018.04.00142

The advancement in medical science and technology has revolutionized human interaction with machines, crafting one of the most promising state-of-the-art technological fields of today’s world. This innovation has made doors opened to rehabilitation b... Read More about Human machine interface: robotizing the instinctive living.

Advanced sliding mode control techniques for Inverted Pendulum: Modelling and simulation (2018)
Journal Article
Irfan, S., Mehmood, A., Razzaq, M. T., & Iqbal, J. (2018). Advanced sliding mode control techniques for Inverted Pendulum: Modelling and simulation. Engineering Science and Technology : an International Journal, 21(4), 753-759. https://doi.org/10.1016/j.jestch.2018.06.010

Numerous practical applications like robot balancing, segway and hover board riding and operation of a rocket propeller are inherently based on Inverted Pendulum (IP). The control of an IP is a sophisticated problem due to various real world phenomen... Read More about Advanced sliding mode control techniques for Inverted Pendulum: Modelling and simulation.

Towards realizing robotic potential in future intelligent food manufacturing systems (2018)
Journal Article
Khan, Z. H., Khalid, A., & Iqbal, J. (2018). Towards realizing robotic potential in future intelligent food manufacturing systems. Innovative Food Science and Emerging Technologies, 48, 11-24. https://doi.org/10.1016/j.ifset.2018.05.011

This paper provides a comprehensive review of the robotic potential that is foreseen by researchers in designing future food manufacturing plant. The present day food handling and packaging setup is limited in capacity and output due to manual proces... Read More about Towards realizing robotic potential in future intelligent food manufacturing systems.

A systems engineering approach to find the solution of the lubricant compromise for the wind turbine gear box (2018)
Journal Article
Usman, M., & Iqbal, J. (2018). A systems engineering approach to find the solution of the lubricant compromise for the wind turbine gear box. NFC-IEFR Journal of Engineering and Scientific Research, 6(1), 89-97

Recent advancements in the field of systems engineering has broadened the horizon of its applications in handling complex systems. In the author’s previous work it has been shown that the low reliability and maintainability of the wind turbine is cau... Read More about A systems engineering approach to find the solution of the lubricant compromise for the wind turbine gear box.

Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization (2018)
Journal Article
Ajwad, S. A., Iqbal, J., Islam, R. U., Alsheikhy, A., Almeshal, A., & Mehmood, A. (2018). Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization. Cybernetics and Systems, 49(1), 77-93. https://doi.org/10.1080/01969722.2017.1412905

Robots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability, particularly in an env... Read More about Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization.

A novel goal-oriented strategy for mobile robot navigation without sub-goals constraint (2018)
Journal Article
Zohaib, M., Iqbal, J., & Pasha, S. M. (2018). A novel goal-oriented strategy for mobile robot navigation without sub-goals constraint. Revue Roumaine des Sciences Techniques : Série Électrotechnique et Énergétique, 63(1), 106-111

This paper proposes an approach for obstacle avoidance to ensure safe navigation in a mazy environment. The presented bubble bug algorithm (BBA) is an enhancement of already proposed intelligent bug algorithm (IBA), which over performs bug variants.... Read More about A novel goal-oriented strategy for mobile robot navigation without sub-goals constraint.

Nonlinear control of a flexible joint robotic manipulator with experimental validation (2018)
Journal Article
Alam, W., Mehmood, A., Ali, K., Javaid, U., Alharbi, S., & Iqbal, J. (2018). Nonlinear control of a flexible joint robotic manipulator with experimental validation. Strojniški vestnik - Journal of Mechanical Engineering, 64(1), 47-55. https://doi.org/10.5545/sv-jme.2017.4786

This article addresses the design and implementation of robust nonlinear control approaches to obtain the desired trajectory tracking of a flexible joint manipulator driven with a direct-current (DC) geared motor. The nonlinear control schemes have b... Read More about Nonlinear control of a flexible joint robotic manipulator with experimental validation.

An efficient and intelligent solar charge controller: Design and prototyping (2017)
Journal Article
Akram, I., Awais, M., & Iqbal, J. (2017). An efficient and intelligent solar charge controller: Design and prototyping. University of Wah Journal of Science and Technology, 1(1), 1-7

Demand for alternative energy sources has increased incredibly due to the energy crisis in Pakistan. Photo voltaic system is one of the best solutions to cope with this crisis. Battery is a component of primary... Read More about An efficient and intelligent solar charge controller: Design and prototyping.

Exploring the training potential of recent virtual robotic platforms: A comprehensive review (2017)
Journal Article
Ali Ajwad, S., Ul islam, R., & Iqbal, J. (2017). Exploring the training potential of recent virtual robotic platforms: A comprehensive review. Journal of Advancements in Robotics, 4(2), 9-25

In recent years, deployment of robotic manipulators in industries and other fields has increased significantly. This growing trend highlights the need of trained engineers and technicians. Virtual robotic platforms facilitate engineers to acquire kno... Read More about Exploring the training potential of recent virtual robotic platforms: A comprehensive review.

Nonlinear control systems - A brief overview of historical and recent advances (2017)
Journal Article
Iqbal, J., Ullah, M., Khan, S. G., Khelifa, B., & Ćuković, S. (2017). Nonlinear control systems - A brief overview of historical and recent advances. Nonlinear Engineering, 6(4), 301-312. https://doi.org/10.1515/nleng-2016-0077

Last five decades witnessed remarkable developments in linear control systems and thus problems in this subject has been largely resolved. The scope of the present paper is beyond linear solutions. Modern technology demands sophisticated control laws... Read More about Nonlinear control systems - A brief overview of historical and recent advances.

Prospects of robotics in food industry (2017)
Journal Article
Iqbal, J., Khan, Z. H., & Khalid, A. (2017). Prospects of robotics in food industry. Food Science and Technology (Campinas), 37(2), 159-165. https://doi.org/10.1590/1678-457X.14616

Technological advancements in various domains have broadened the application horizon of robotics to an incredible extent. Highlighting a very recent application area, this paper presents a comprehensive review of robotics application in food industry... Read More about Prospects of robotics in food industry.

Role and review of educational robotic platforms in preparing engineers for industry (2017)
Journal Article
Ajwad, S. A., Asim, N., Islam, R. U., & Iqbal, J. (2017). Role and review of educational robotic platforms in preparing engineers for industry. Maejo International Journal of Science and Technology, 11(1), 17-34

Recent advances in robotics, specifically in the industrial sector, have highlighted the need to have sophisticated educational and training platforms. The cross-disciplinary nature of robotics demands industrial engineers to acquire knowledge and pr... Read More about Role and review of educational robotic platforms in preparing engineers for industry.

On the derivation of novel model and sophisticated control of flexible joint manipulator (2017)
Journal Article
Khan, O., Pervaiz, M., Ahmad, E., & Iqbal, J. (2017). On the derivation of novel model and sophisticated control of flexible joint manipulator. Revue Roumaine des Sciences Techniques : Série Électrotechnique et Énergétique, 62(1), 103-108

Flexibility in robotic manipulators offers several benefits in terms of weight, maneuverability, operational speed and power consumption. However, these merits are obtained at the cost of control complexity. This paper addresses the control problem o... Read More about On the derivation of novel model and sophisticated control of flexible joint manipulator.

Computer aided parametric design of hydraulic gear pumps (2017)
Journal Article
GHIONEA, I. G., IONESCU, N., GHIONEA, A., ĆUKOVIĆ, S., TONOIU, S., CATANĂ, M., & JAMSHED, I. (2017). Computer aided parametric design of hydraulic gear pumps. Acta technica Napocensis. Series: Applied mathematics, mechanics and engineering, 60(1), 113-124

This paper addresses methodological and applied issues to design spur gear pumps. Based on the requirements raised by a Romanian production partner, the overall objective of this research is to identify several design alternatives and to propose impr... Read More about Computer aided parametric design of hydraulic gear pumps.

Opportunities and challenges in control of smart grids – Pakistani perspective (2016)
Journal Article
Irfan, M., Iqbal, J., Iqbal, A., Iqbal, Z., Riaz, R. A., & Mehmood, A. (2017). Opportunities and challenges in control of smart grids – Pakistani perspective. Renewable & sustainable energy reviews, 71, 652-674. https://doi.org/10.1016/j.rser.2016.12.095

With the advancement in technologies, the power requirement around the globe is tremendously increasing, putting extra loads on grids. The existing grids cannot bear that load and also do not provide the interface with Distributed Renewable Energy So... Read More about Opportunities and challenges in control of smart grids – Pakistani perspective.

Regulation of hypnosis in Propofol anesthesia administration based on non‐linear control strategy (2016)
Journal Article
Ilyas, M., Khaqan, A., Iqbal, J., & Riaz, R. A. (2017). Regulation of hypnosis in Propofol anesthesia administration based on non‐linear control strategy. Brazilian Journal of Anesthesiology, 67(2), 122-130. https://doi.org/10.1016/j.bjan.2016.12.005

Continuous adjustment of Propofol in manual delivery of anesthesia for conducting a surgical procedure overburdens the workload of an anesthetist who is working in a multi‐tasking scenario. Going beyond manual administration and Target Controlled Inf... Read More about Regulation of hypnosis in Propofol anesthesia administration based on non‐linear control strategy.

The potential role of renewable energy sources in robot's power system: A case study of Pakistan (2016)
Journal Article
Iqbal, J., & Khan, Z. H. (2017). The potential role of renewable energy sources in robot's power system: A case study of Pakistan. Renewable & sustainable energy reviews, 75, 106-122. https://doi.org/10.1016/j.rser.2016.10.055

The domain of ‘robotics’ is undergoing a major transformation in dimension as well as scope. Recent advances in various disciplines of technology have revolutionized this domain at an incredible pace far beyond the contemporary state of the art. High... Read More about The potential role of renewable energy sources in robot's power system: A case study of Pakistan.

IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform based on CAD and knowledgeware technologies (2016)
Journal Article
Baizid, K., Ćuković, S., Iqbal, J., Yousnadj, A., Chellali, R., Meddahi, A., …Ghionea, I. (2016). IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform based on CAD and knowledgeware technologies. Robotics and Computer-Integrated Manufacturing, 42, 121-134. https://doi.org/10.1016/j.rcim.2016.06.003

This paper presents Industrial Robotics Simulation Design Planning and Optimization platform named IRoSim, which is based on SolidWorks Application Programming Interface (API) to offer an intuitive and convertible environment for designing and simula... Read More about IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform based on CAD and knowledgeware technologies.

Automating industrial tasks through mechatronic systems - A review of robotics in industrial perspective (2016)
Journal Article
Iqbal, J., Islam, R. U., Abbas, S. Z., Khan, A. A., & Ajwad, S. A. (2016). Automating industrial tasks through mechatronic systems - A review of robotics in industrial perspective. Tehnički vjesnik – Technical Gazette, 23(3), 917-924. https://doi.org/10.17559/TV-20140724220401

Pressing requirements of improved and enhanced productivity in industrial applications has necessitated deployment of robot to automate tasks. Manipulator based articulated robots for today’s industrial applications vary widely in terms of number of... Read More about Automating industrial tasks through mechatronic systems - A review of robotics in industrial perspective.

Extreme learning machine based approach for diagnosis and analysis of breast cancer (2016)
Journal Article
Iqbal, J., Tsagarakis, N., & Caldwell, D. (2016). Extreme learning machine based approach for diagnosis and analysis of breast cancer. Journal of the Chinese Institute of Engineers, 39(1), 74-78. https://doi.org/10.1080/02533839.2015.1082934

Due to the heterogeneous and complex nature of clinical data, the need to use sophisticated diagnosis techniques has increased significantly in recent years. The proposed approach for diagnosis of breast cancer exploits the potential of an extreme le... Read More about Extreme learning machine based approach for diagnosis and analysis of breast cancer.

Optimal v/s robust control: A study and comparison for articulated manipulator (2016)
Journal Article
Ajwad, S. A., Mehmood, A., Ullah, M. I., & Iqbal, J. (2016). Optimal v/s robust control: A study and comparison for articulated manipulator. Journal of the Balkan Tribological Association, 22(3), 2469-2475

Highly nonlinear and coupled dynamics of a robotic manipulator demands sophisticated control strategies. These strategies must have the ability to handle the uncertainties and external disturbances that can significantly deviate the system from its d... Read More about Optimal v/s robust control: A study and comparison for articulated manipulator.

Non-linear control law for articulated serial manipulators: Simulation augmented with hardware implementation (2016)
Journal Article
Ullah, M. I., Ajwad, S. A., Irfan, M., & Iqbal, J. (2016). Non-linear control law for articulated serial manipulators: Simulation augmented with hardware implementation. Elektronika Ir Elektrotechnika, 22(1), 3-7. https://doi.org/10.5755/j01.eee.22.1.14094

The performance of a robotic arm includes accuracy, repeatability and reliability to accomplish a task. These parameters, in turn, are function of associated control law. Multi-Degree Of Freedom (DOF) robotic arms, because of their inherent highly no... Read More about Non-linear control law for articulated serial manipulators: Simulation augmented with hardware implementation.

Towards sophisticated control of robotic manipulators: An experimental study on a pseudo-industrial arm (2015)
Journal Article
Iqbal, J., Imran Ullah, M., Khan, A. A., & Irfan, M. (2015). Towards sophisticated control of robotic manipulators: An experimental study on a pseudo-industrial arm. Strojniški vestnik - Journal of Mechanical Engineering, 61(7-8), 465-470. https://doi.org/10.5545/sv-jme.2015.2511

Robotic manipulators have reshaped industrial processes. The scientific community has witnessed an ever increasing trend in robots deployed to accomplish various tasks in industry. The complex nature and constrained requirements of robots may demand... Read More about Towards sophisticated control of robotic manipulators: An experimental study on a pseudo-industrial arm.

Stroke rehabilitation using exoskeleton-based robotic exercisers: Mini review (2015)
Journal Article
Iqbal, J., & Baizid, K. (2015). Stroke rehabilitation using exoskeleton-based robotic exercisers: Mini review. Biomedical Research, 26(1), 197-201

Stroke is a debilitating disease that has afflicted millions of people throughout the world. Assisting physiotherapists in post-stroke activities to conduct rehabilitation therapies, scientific community has presented a new type of man-machine intell... Read More about Stroke rehabilitation using exoskeleton-based robotic exercisers: Mini review.

Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes (2015)
Journal Article
Iqbal, J., Tsagarakis, N. G., & Caldwell, D. G. (2015). Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes. Electronics letters, 51(12), 888-890. https://doi.org/10.1049/el.2015.0850

A wearable hand exoskeleton (EXO) device that permits exertion of bidirectional forces on finger phalanges throughout the human finger workspace is proposed. The novelty of the proposed device lies in its direct-driven, portable and optimised mechani... Read More about Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes.

A systematic review of current and emergent manipulator control approaches (2015)
Journal Article
Ajwad, S. A., Iqbal, J., Ullah, M. I., & Mehmood, A. (2015). A systematic review of current and emergent manipulator control approaches. Frontiers of Mechanical Engineering, 10(2), 198-210. https://doi.org/10.1007/s11465-015-0335-0

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic... Read More about A systematic review of current and emergent manipulator control approaches.

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking (2015)
Journal Article
Khan, H., Iqbal, J., Baizid, K., & Zielinska, T. (2015). Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking. Frontiers of Information Technology & Electronic Engineering, 16(2), 166-172. https://doi.org/10.1631/FITEE.1400183

This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that consider... Read More about Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking.

Time scheduling and optimization of industrial robotized tasks based on genetic algorithms (2015)
Journal Article
Baizid, K., Yousnadj, A., Meddahi, A., Chellali, R., & Iqbal, J. (2015). Time scheduling and optimization of industrial robotized tasks based on genetic algorithms. Robotics and Computer-Integrated Manufacturing, 34, 140-150. https://doi.org/10.1016/j.rcim.2014.12.003

Today's industrial manipulators are more and more demanding in terms of productivity. This goal could be achieved by increasing speed of the robot manipulator and/or by optimizing the trajectories followed by manipulators while performing manufacturi... Read More about Time scheduling and optimization of industrial robotized tasks based on genetic algorithms.

Disturbance-observer-based robust control of a Serial-link robotic manipulator using SMC and PBC techniques (2015)
Journal Article
Ajwad, S. A., Iqbal, J., Khan, A. A., & Mehmood, A. (2015). Disturbance-observer-based robust control of a Serial-link robotic manipulator using SMC and PBC techniques. Studies in Informatics and Control, 24(4), 401-408. https://doi.org/10.24846/v24i4y201504

Robotic manipulators deployed in automation industry require high speed with precision and accuracy to perform sophisticated control tasks. Whereas, the factors like highly coupled dynamics, internal and external perturbation forces, joint friction a... Read More about Disturbance-observer-based robust control of a Serial-link robotic manipulator using SMC and PBC techniques.

A hybrid humanoid-wheeled mobile robotic educational platform - design and prototyping (2014)
Journal Article
Arif, A. H., Waqas, M., Rahman, U. U., Anwar, S., Malik, A., & Iqbal, J. (2014). A hybrid humanoid-wheeled mobile robotic educational platform - design and prototyping. Indian Journal of Science and Technology, 7(12), 2140-2148. https://doi.org/10.17485/ijst/2014/v7i12.24

This research presents a novel, cost effective and indigenously developed educational framework for grasping hands-on concepts of Robotics and Mechatronics. The novelty of the platform lies in its ability to transform its shape from a humanoid to a w... Read More about A hybrid humanoid-wheeled mobile robotic educational platform - design and prototyping.

State estimation technique for a planetary robotic rover (2014)
Journal Article
Iqbal, J., Rehman-Saad, M., Malik, A., & Mahmood-Tahir, A. (2014). State estimation technique for a planetary robotic rover. Revista Facultad de Ingeniería Universidad de Antioquia, 58-68

Given the long traverse times and severe environmental constraints on a planet like Mars, the only option feasible now is to observe and explore the planet through more sophisticated planetary rovers. To achieve increasingly ambitious mission objecti... Read More about State estimation technique for a planetary robotic rover.

Recent advances and applications of tethered robotic systems (2014)
Journal Article
Ali Ajwad, S., & Iqbal, J. (2014). Recent advances and applications of tethered robotic systems. Science international (Lahore), 26(5), 2045-2051

With the advancement in technology, the field of robotics has evolved differently in multiple domains. For use in industries huge and autonomous robotic systems are developed. On the other hand, the increased demand of robotics in rescues, space and... Read More about Recent advances and applications of tethered robotic systems.

Underwater robotic vehicles: Latest development trends and potential challenges (2014)
Journal Article
Mahmood Tahir, A., & Iqbal, J. (2014). Underwater robotic vehicles: Latest development trends and potential challenges. Science international (Lahore), 26(3), 1111-1117

The treacherous underwater working environment demands state of the art operational technology. Innovation in these technologies has been driven by the need to have a reliable, flexible, productive and reconfigurable machine termed as Remotely Operat... Read More about Underwater robotic vehicles: Latest development trends and potential challenges.

An improved algorithm for collision avoidance in environments having U and H shaped obstacles (2014)
Journal Article
Zohaib, M., Pasha, S. M., Javaid, N., Salaam, A., & Iqbal, J. (2014). An improved algorithm for collision avoidance in environments having U and H shaped obstacles. Studies in Informatics and Control, 23(1), 97-106. https://doi.org/10.24846/v23i1y201410

This paper proposes a novel obstacle avoidance algorithm for autonomous mobile robot control. The proposed approach brings a solution to the problem of robot traversal in critical shaped environments and offers several advantages compared to the repo... Read More about An improved algorithm for collision avoidance in environments having U and H shaped obstacles.

A multi-robot educational and research framework (2014)
Journal Article
Ahmad, O., Ullah, I., & Iqbal, J. (2014). A multi-robot educational and research framework. International Journal of Academic Research, 6(2), 217-222. https://doi.org/10.7813/2075-4124.2014/6-2/A.32

Robots have greatly transformed human’s life. Multi-disciplinary research in robotics essentially demands having sophisticated frameworks with diverse range of capabilities ranging from simple tasks like testing of control algorithms to handling comp... Read More about A multi-robot educational and research framework.

Human hand compatible underactuated exoskeleton robotic system (2014)
Journal Article
Iqbal, J., Tsagarakis, N. G., & Caldwell, D. G. (2014). Human hand compatible underactuated exoskeleton robotic system. Electronics letters, 50(7), 494-496. https://doi.org/10.1049/el.2014.0508

A novel direct-driven and portable exoskeleton robotic system for the hand is proposed. The system design is based on the multi-parametric optimisation procedure, which considers isotropy, dexterity and exertion of perpendicular forces on the finger... Read More about Human hand compatible underactuated exoskeleton robotic system.

A novel exoskeleton robotic system for hand rehabilitation - Conceptualization to prototyping (2014)
Journal Article
Iqbal, J., Khan, H., Tsagarakis, N. G., & Caldwell, D. G. (2014). A novel exoskeleton robotic system for hand rehabilitation - Conceptualization to prototyping. Biocybernetics and Biomedical Engineering, 34(2), 79-89. https://doi.org/10.1016/j.bbe.2014.01.003

This research presents a novel hand exoskeleton rehabilitation device to facilitate tendon therapy exercises. The exoskeleton is designed to assist fingers flexion and extension motions in a natural manner. The proposed multi-Degree Of Freedom (DOF)... Read More about A novel exoskeleton robotic system for hand rehabilitation - Conceptualization to prototyping.

A comprehensive state-of-the-art on control of industrial articulated robots (2014)
Journal Article
Ajwad, S. A., Ullah, M. I., Baizid, K., & Iqbal, J. (2014). A comprehensive state-of-the-art on control of industrial articulated robots. Journal of the Balkan Tribological Association, 20(4), 499-521

Incredible applications of robotic manipulators especially in the industrial sector have drawn attention to substitute classical control techniques with more sophisticated intelligent approaches. This, consequently, has motivated robotics community t... Read More about A comprehensive state-of-the-art on control of industrial articulated robots.

Embedded control system for autarep - a novel autonomous articulated robotic educational platform (2014)
Journal Article
Iqbal, U., Samad, A., Nissa, Z., & Iqbal, J. (2014). Embedded control system for autarep - a novel autonomous articulated robotic educational platform. Tehnički vjesnik – Technical Gazette, 21(6), 1255-1261

This research introduces an open-source framework, AUTonomous Articulated Robotic Educational Platform (AUTAREP). The platform is centred on a 6 Degree Of Freedom (DOF) arm with multiple feedbacks to ensure precision and autonomy. The sensory system... Read More about Embedded control system for autarep - a novel autonomous articulated robotic educational platform.

A unified SLAM solution using partial 3D structure (2014)
Journal Article
Riaz Un Nabi Jafri, S., Iqbal, J., Khan, H., & Chellali, R. (2014). A unified SLAM solution using partial 3D structure. Elektronika Ir Elektrotechnika, 20(9), 3-8. https://doi.org/10.5755/j01.eee.20.9.8707

Good quality of environment mapping demands modelling the associated environment nearly to its 3D originality. This paper presents a unified Simultaneous Localisation And Mapping (SLAM) solution based on partial 3D structure. As compared to existing... Read More about A unified SLAM solution using partial 3D structure.

Design and comparison of two control strategies for multi-DOF articulated robotic arm manipulator (2014)
Journal Article
ul Islam, R., Iqbal, J., & Khan, Q. (2014). Design and comparison of two control strategies for multi-DOF articulated robotic arm manipulator. Journal of Control Engineering and Applied Informatics, 16(2), 28-39

This paper is aimed at mathematical modeling and design of a robust control strategy for a multi Degree Of Freedom (DOF) manipulator. A novel AUTonomous Articulated Robotic Educational Platform (AUTAREP), centered on a 6 DOF arm, is introduced in the... Read More about Design and comparison of two control strategies for multi-DOF articulated robotic arm manipulator.

An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation (2013)
Journal Article
Manzoor, S., Ul Islam, R., Khalid, A., Samad, A., & Iqbal, J. (2014). An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation. Robotics and Computer-Integrated Manufacturing, 30(3), 351-362. https://doi.org/10.1016/j.rcim.2013.11.003

This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to facili... Read More about An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation.

Real-time target detection and tracking: A comparative in-depth review of strategies (2013)
Journal Article
Iqbal, J., Pasha, M., Riaz-un-Nabi, Khan, H., & Iqbal, J. (2013). Real-time target detection and tracking: A comparative in-depth review of strategies. Life science journal, 10(3), 804-813

This survey reports the approaches for object detection and successful target tracking based on image acquisition for real time applications. Moving target detection and its tracking is an important research topic in computer vision and robotics. Com... Read More about Real-time target detection and tracking: A comparative in-depth review of strategies.

A novel track-drive mobile robotic framework for conducting projects on robotics and control systems (2013)
Journal Article
Iqbal, J., Riaz un Nabi, S., Attayyab Khan, A., & Khan, H. (2013). A novel track-drive mobile robotic framework for conducting projects on robotics and control systems. Life science journal, 10(3), 130-137

This paper presents a novel robotic framework to help students to practically grasp the concepts of Robotics and Control Systems in a laboratory environment. The framework is centered on a robotic rover having two tank-like tracks which permit locomo... Read More about A novel track-drive mobile robotic framework for conducting projects on robotics and control systems.

Computer vision inspired real-time autonomous moving target detection, tracking and locking (2013)
Journal Article
Iqbal, J., Pasha, S. M., Baizid, K., Khan, A. A., & Iqbal, J. (2013). Computer vision inspired real-time autonomous moving target detection, tracking and locking. Life science journal, 10(4), 3338-3345

Moving object analysis is one of the most important and challenging research subjects in computer vision, video processing and robotics. This analysis is three folds: object detection followed by its tracking and locking. Today's applications demand... Read More about Computer vision inspired real-time autonomous moving target detection, tracking and locking.

Surface estimation of a pedestrian walk for outdoor use of power wheelchair based robot (2013)
Journal Article
Khan, A. A., un Nabi, S. R., & Iqbal, J. (2013). Surface estimation of a pedestrian walk for outdoor use of power wheelchair based robot. Life science journal, 10(3), 1697-1704

In mobile robotics, surface estimation and object recognition play vital role in navigation and control. This research presents a normal vector estimation method of a surface using Delaunay tessellation. The proposed strategy is an expansion of previ... Read More about Surface estimation of a pedestrian walk for outdoor use of power wheelchair based robot.

Emotions in robots (2012)
Journal Article
Azeem, M. M., Iqbal, J., Toivanen, P., & Samad, A. (2012). Emotions in robots. Communications in Computer and Information Science, 281, 144-153. https://doi.org/10.1007/978-3-642-28962-0_15

This article gives a general overview of emotions in robotics. It sheds light on the composition of emotions in human beings and how this information can be used as blue print for creation of emotional robots. It discusses different factors involved... Read More about Emotions in robots.

Hardware realization and PID control of multi-degree of freedom articulated robotic arm (2010)
Journal Article
Ali Ajwad, S., Iqbal, U., & Iqbal, J. (2010). Hardware realization and PID control of multi-degree of freedom articulated robotic arm. Mehran University Research Journal of Engineering and Technology, 29(4),

A robotic manipulator is the most important component in an industrial environment for autonomous execution of tasks. Given the repoted fact that a PID (Proportional-Integral-Derivative) will continue to be the main workhorse in the automation sector... Read More about Hardware realization and PID control of multi-degree of freedom articulated robotic arm.