Outputs (26)

Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0 (2024)
Book

Modeling, Identification, and Control for Cyber-Physical Systems Towards Industry 4.0 studies and analyzes the role of algorithms in identifying and controlling such a system towards Industry 4.0, which is the digital transformation of manufacturing... Read More about Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0.

Industry 4.0 more than a challenge in modeling, identification, and control for cyber-physical systems (2024)
Book Chapter

Modeling, Identification, and Control for Cyber-Physical Systems Towards Industry 4.0 studies and analyzes the role of algorithms in identifying and controlling such a system towards Industry 4.0, which is the digital transformation of manufacturing... Read More about Industry 4.0 more than a challenge in modeling, identification, and control for cyber-physical systems.

Multibody simulations of distributed flight arrays for Industry 4.0 applications (2024)
Book Chapter

Distributed Flight Arrays (DFAs) are an experimental type of aerial, multi-rotor, vehicle capable of land-based navigation and cooperative aerial flight involving physically docking with N-number of other agents forming a larger structure with some d... Read More about Multibody simulations of distributed flight arrays for Industry 4.0 applications.

U-model-based dynamic inversion control for quadrotor UAV systems (2024)
Book Chapter

A Model-Independent Design approach (U-Model) is studied with the example of Quadrotor UAV. A Multiple-Input Multiple-Output (MIMO) dynamic model of a quadrotor UAV is derived, and U-Model-based Dynamic Inverse control approach is used to design a co... Read More about U-model-based dynamic inversion control for quadrotor UAV systems.

Trajectory tracking of a quadrotor using extend state observer based U-model enhanced double sliding mode control (2023)
Journal Article

This paper develops a novel U-model enhanced double sliding mode controller (UDSMC) for a quadrotor based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). UDSMC is designed using Lyapunov synthesis and Hurwitz stability to no... Read More about Trajectory tracking of a quadrotor using extend state observer based U-model enhanced double sliding mode control.

Formation flying along libration point orbits using chattering attenuation sliding mode control (2022)
Journal Article

This paper studies a control law to achieve formation flying in cislunar space. Utilizing the eigenstructure of the linearized flow around a libration point of the Earth-Moon circular restricted three-body problem, the fuel efficient formation flying... Read More about Formation flying along libration point orbits using chattering attenuation sliding mode control.

A new configuration of composite nonlinear feedback control for nonlinear systems with input saturation (2022)
Journal Article

This study proposes a U-control–based Composite Nonlinear Feedback (U-CNF) design procedure. This U-CNF control establishes a double feedback loop framework for generalisation and simplification in designing the CNF control systems. Two controllers,... Read More about A new configuration of composite nonlinear feedback control for nonlinear systems with input saturation.

Event-triggered based state estimation for autonomous operation of an aerial robotic vehicle (2019)
Presentation / Conference Contribution

In this article the problem of event-triggered (ET) state estimation for autonomous navigation of an aerial vehicle is investigated numerically. The aerial vehicle is considered as a general example of a nonlinear non-Gaussian system for state estima... Read More about Event-triggered based state estimation for autonomous operation of an aerial robotic vehicle.

Fast, vision-based, line-following schemes for Micro Aerial Vehicles in nuclear environments (2019)
Presentation / Conference Contribution

Many nuclear power plants are reaching the end of their economic lifetime and the decommissioning of legacy nuclear facilities is an important challenge in the next few decades. Since the radiation level in these facilities is significant, autonomous... Read More about Fast, vision-based, line-following schemes for Micro Aerial Vehicles in nuclear environments.

Robust Attitude Stabilization of a Track Follower Micro Aerial Vehicle using a Vision-based Sensor (2019)
Presentation / Conference Contribution

A fuzzy data-driven paradigmatic predictor (2019)
Presentation / Conference Contribution

Data-driven prediction of future events is to provide decision-makers Predictive Information (PI) to decrease human-error. They usually desire possession of a predictor which works independently from the humanized configurations and works efficiently... Read More about A fuzzy data-driven paradigmatic predictor.

A fuzzy paradigmatic clustering algorithm (2019)
Journal Article

Clustering algorithms resume the datasets into few number of data points such as centroids or medoids, which explain the entire dataset briefly. In the domain of data-driven machine learning, the more precision with the clustering rule leads directly... Read More about A fuzzy paradigmatic clustering algorithm.

Robust Intelligent Control of Underactuated Ground- based and Aerial Robots with Matched/Mismatched Uncertainties and Disturbances (2019)
Presentation / Conference Contribution

Recently, inspired by nature, the evolution of novel materials and fabrication procedures for the design and control of soft-bodied robots have led to deformable actuators that are versatile, power-efficient, compliant, agile, self-healing and intell... Read More about Robust Intelligent Control of Underactuated Ground- based and Aerial Robots with Matched/Mismatched Uncertainties and Disturbances.

Assisted teleoperation for a dual-manipulator robot and coordination with aerial vehicles for nuclear decommissioning applications (2019)
Presentation / Conference Contribution

This poster summarises research at Lancaster University into the modelling and control of mobile robots with application to nuclear decommissioning. The work is based on use of a mobile, hydraulically actuated robot, which is supported by information... Read More about Assisted teleoperation for a dual-manipulator robot and coordination with aerial vehicles for nuclear decommissioning applications.

Output Feedback Sliding Mode Control of Quadcopter Using IMU Navigation (2019)
Presentation / Conference Contribution

The main focus of this paper is to design various nonlinear sliding mode output feedback control approaches for attitude stabilisation of a quadcopter UAV using only IMU navigation sensor. Three types of controllers are considered based on asymptotic... Read More about Output Feedback Sliding Mode Control of Quadcopter Using IMU Navigation.

Analysis and Design of a Multi-Channel Time-Varying Sliding Mode Controller and its Application in Unmanned Aerial Vehicles (2018)
Journal Article

This study introduces a new multi-channel robust nonlinear control algorithm based on the theory of the time-varying sliding mode control (TVSMC) strategy to stabilize the attitude of an unmanned aerial vehicle (UAV) for nuclear decommissioning appli... Read More about Analysis and Design of a Multi-Channel Time-Varying Sliding Mode Controller and its Application in Unmanned Aerial Vehicles.

Design and development of a novel controller for robust attitude stabilisation of an unmanned air vehicle for nuclear environments (2018)
Presentation / Conference Contribution

This study presents two new robust nonlinear control algorithms based on the theory of time-varying sliding mode control (TVSMC) strategy to stabilize the attitude of an unmanned aerial vehicle (UAV) for nuclear decommissioning applications. Constant... Read More about Design and development of a novel controller for robust attitude stabilisation of an unmanned air vehicle for nuclear environments.

Robust Attitude Control for Quadrotors with External Disturbances (2017)
Presentation / Conference Contribution

This study investigates a design procedure for a robust nonlinear control algorithm based on sliding mode control (SMC) to stabilize the attitude of a 3-DOF quadrotor UAV subject to external disturbances. Since traditional sliding mode controllers ar... Read More about Robust Attitude Control for Quadrotors with External Disturbances.

Chattering attenuation sliding mode approach for nonlinear systems (2017)
Journal Article

This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur... Read More about Chattering attenuation sliding mode approach for nonlinear systems.

Satellite formation-keeping about libration points in the presence of system uncertainties (2016)
Presentation / Conference Contribution

This paper studies a control law to stabilize the orbital motion in the vicinity of an unstable equilibrium points and periodic orbits in the circular-restricted three-body problem. Utilizing the eigenstructure of the system, the fuel efficient forma... Read More about Satellite formation-keeping about libration points in the presence of system uncertainties.

Trajectory design using the center manifold theory in the circular restricted three-body problem (2016)
Journal Article

Lagrangian points are libration points in the circular restricted three-body problem. Three of them are collinear libration points, and known to have unstable periodic and quasi-periodic orbits in the vicinity of themselves. This study aims to desig... Read More about Trajectory design using the center manifold theory in the circular restricted three-body problem.

Design of sliding mode controllers for formation flying along unstable periodic orbits in CR3BP (2015)
Presentation / Conference Contribution

Recently formation flying along halo orbits near a libration point or simply formation flying in the vicinity of a libration point of the circular-restricted three-body problem (CR3BP) has been studied from the point of view of future missions such a... Read More about Design of sliding mode controllers for formation flying along unstable periodic orbits in CR3BP.

Design procedure of chattering attenuation sliding mode attitude control of a satellite system (2014)
Presentation / Conference Contribution

This study presents a design procedure for a new robust nonlinear control algorithm based on the theory of the terminal sliding mode (TSM) to control the attitude of a satellite system. Since the traditional TSM controllers include a discontinuous fu... Read More about Design procedure of chattering attenuation sliding mode attitude control of a satellite system.

New Continuous Sliding Mode Design for Spacecraft Attitude Control (2014)
Presentation / Conference Contribution

New Chattering Attenuation Sliding Mode Control of a Flexible Spacecraft (2014)
Journal Article

An improved sliding mode control (SMC) strategy for the attitude control problem of a nonlinear spacecraft with an elastic appendage is investigated. Since conventional sliding mode controllers include a discontinuous function, a significant problem... Read More about New Chattering Attenuation Sliding Mode Control of a Flexible Spacecraft.

Sliding mode control of a microsatellite attitude (2010)
Presentation / Conference Contribution

Attitude control of a micro-satellite is analyzed with sliding control method. With this method, attitude dynamics of satellite is robust against uncertainties and unknown disturbances. Nonlinear and coupled model in this paper is utilized and to pre... Read More about Sliding mode control of a microsatellite attitude.