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The problem of having an identical speed when dealing with multiple motors always exists in the industry. There are several methods with which the problem can be addressed, but all the methodologies have two common drawbacks. Firstly, the control design requires continuous information of the desired speed and the actual speed of motors; secondly, sometimes it is difficult to directly measure the speed variables. In the proposed study, both of these drawbacks are addressed by designing an observer-based event-triggered networked multi-agent system. The proposed methodology uses the leader following consensus approach with a centralized event triggering control design, such that whenever a follower’s speed diverges from that of the leader, an event is triggered, which communicates and resets all the agents to the leader’s speed. Moreover, an observer is designed such that the ith agent uses its jth neighbor agent and observer speed information to estimate the leader’s speed. The stability of the proposed design is formulated by Lyapunov stability, while the simulation results endorse the design concepts and energy saving.
Suhaib Masroor; Chen Peng. Observer-based event-triggered networked multi-drives speed consensus. Digital Communications and Networks 2021, 1 .
AMA StyleSuhaib Masroor, Chen Peng. Observer-based event-triggered networked multi-drives speed consensus. Digital Communications and Networks. 2021; ():1.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng. 2021. "Observer-based event-triggered networked multi-drives speed consensus." Digital Communications and Networks , no. : 1.
The multi-agent consensus control is inspired by Mother Nature, such as the collective hovering of birds. This coordinated motion of birds has gained wider attraction due to its ability to model various control problems, requiring coordinated activities. In the proposed study, the problem of having identical speed for a system with multiple motors is addressed by designing a unique observer-based consensus control algorithm aimed to acquire speed consensus, i.e., identical speed, defined by the leading agent. Furthermore, the proposed system design is novel in the sense that multi-motor speed design with network observer consensus control is never explored before. The observer makes it possible for the agents to estimate the leader speed via neighboring agents and observer. Thus, the leader speed is estimated by an ith observer, via collecting the speed data of the jth agent and the observer. Moreover, the ith agent is a non-inverting chopper drive, forming a multi-motor system, while the stability of this switched multi-agent system is validated by a common Lyapunov function. The proposed system is simulated in MATLAB and proved to be more efficient than existing methods.
Suhaib Masroor; Chen Peng. Observer-Based Leader Follower Network Multi-Motor Drive: An Agent-Based Coordination Control Approach. Arabian Journal for Science and Engineering 2021, 1 -10.
AMA StyleSuhaib Masroor, Chen Peng. Observer-Based Leader Follower Network Multi-Motor Drive: An Agent-Based Coordination Control Approach. Arabian Journal for Science and Engineering. 2021; ():1-10.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng. 2021. "Observer-Based Leader Follower Network Multi-Motor Drive: An Agent-Based Coordination Control Approach." Arabian Journal for Science and Engineering , no. : 1-10.
Recently, Wireless sensor networks (WSNs) have turned out to be a dominant subject of research due to its application areas. Moreover, with the integration of Unmanned Aerial Vehicle (UAV) in the loop, WSN becomes more valuable and interested topic among research community. With the addition of UAV in WSN, life span of WSN is increased and communication between WSN and Network Control Centre becomes more efficient. UAVs not only increased the life of the network, but also reduce the data processing and memory related issues in the network. In this paper, we address the problem of data gathering from a WSN with altitude controlled UAV. Simulation results verify the effectiveness of our proposed method.
Zain Anwar Ali; Suhaib Masroor; Muhammad Aamir. UAV Based Data Gathering in Wireless Sensor Networks. Wireless Personal Communications 2018, 106, 1801 -1811.
AMA StyleZain Anwar Ali, Suhaib Masroor, Muhammad Aamir. UAV Based Data Gathering in Wireless Sensor Networks. Wireless Personal Communications. 2018; 106 (4):1801-1811.
Chicago/Turabian StyleZain Anwar Ali; Suhaib Masroor; Muhammad Aamir. 2018. "UAV Based Data Gathering in Wireless Sensor Networks." Wireless Personal Communications 106, no. 4: 1801-1811.
PurposeThis paper aims to provide a new approach to address the problem of reaching the synchronous speed in the network connected multiple motors. Design/methodology/approachPractically, all the control approaches require continuous monitoring of the system thereby consuming extra energy. The method proposed in this paper uses an event-based approach with the multi-agent system (MAS) consensus control alongside with linear quadratic regulator control, thus saving a larger amount of energy. The proposed system is developed by using non-inverting buck boost chopper to provide necessary electrical power for the direct current motor, hence creating a single agent of bigger MAS with identical dynamics. The system stability is formulated by using Lyapunov stability theory. The proposed system is simulated via MATLAB. FindingsThe acquired simulated results validate that the proposed methodology and the multi-motor system worked successfully, thereby achieving common speed, i.e. consensus. The proposed system also validates the energy-saving concept. Practical implicationsPresently, the multiple motor synchronous speed system found application in paper-making machines, textile printing machines, offset printing, etc. The proposed study will contribute greatly to the existing methodologies and overcome their deficiencies by making the system more flexible and error-free due to the presence of network connectivity. Originality/valueThe system is simulated to verify theoretical concepts.
Suhaib Masroor; Chen Peng. Event triggered non-inverting chopper fed networked DC motor speed synchronization. COMPEL - The international journal for computation and mathematics in electrical and electronic engineering 2018, 37, 911 -929.
AMA StyleSuhaib Masroor, Chen Peng. Event triggered non-inverting chopper fed networked DC motor speed synchronization. COMPEL - The international journal for computation and mathematics in electrical and electronic engineering. 2018; 37 (2):911-929.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng. 2018. "Event triggered non-inverting chopper fed networked DC motor speed synchronization." COMPEL - The international journal for computation and mathematics in electrical and electronic engineering 37, no. 2: 911-929.
In the presented paper, an innovative method to address the problem of synchronous speed in the network connected DC motors is presented by utilizing the linear quadratic regulator control along with the consensus algorithm of the leader following multi-agent system (MAS). From MAS perspective, each chopper fed DC motor is considered as single agent connected through fixed and undirected network. In this study, common lyapunov function is used to ensure switch system stability in such a way that if the \(\mathscr{i}\)th agent is controllable and observable, then all the agents in the multi-motor system network can reach the consensus i.e. synchronous speed. To validate the proposed method, simulation results are presented using MATLAB by considering the application of the load on the motors and without load too.
Suhaib Masroor; Chen Peng; Zain Anwar Ali; Muhammad Aamir. Network Based Speed Synchronization Control in the Brush DC Motors Via LQR and Multi-agent Consensus Scheme. Wireless Personal Communications 2018, 106, 1701 -1718.
AMA StyleSuhaib Masroor, Chen Peng, Zain Anwar Ali, Muhammad Aamir. Network Based Speed Synchronization Control in the Brush DC Motors Via LQR and Multi-agent Consensus Scheme. Wireless Personal Communications. 2018; 106 (4):1701-1718.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng; Zain Anwar Ali; Muhammad Aamir. 2018. "Network Based Speed Synchronization Control in the Brush DC Motors Via LQR and Multi-agent Consensus Scheme." Wireless Personal Communications 106, no. 4: 1701-1718.
Zain Anwar Ali; Muhammad Aamir; Dao Bo Wang; Muhammad Anwar Ahmed; Suhaib Masroor. Controlling the Dynamics and Stabilization of the Altitude and Attitude of An Underactuated Tri-rotor UAV. International Journal of Control and Automation 2017, 10, 303 -320.
AMA StyleZain Anwar Ali, Muhammad Aamir, Dao Bo Wang, Muhammad Anwar Ahmed, Suhaib Masroor. Controlling the Dynamics and Stabilization of the Altitude and Attitude of An Underactuated Tri-rotor UAV. International Journal of Control and Automation. 2017; 10 (3):303-320.
Chicago/Turabian StyleZain Anwar Ali; Muhammad Aamir; Dao Bo Wang; Muhammad Anwar Ahmed; Suhaib Masroor. 2017. "Controlling the Dynamics and Stabilization of the Altitude and Attitude of An Underactuated Tri-rotor UAV." International Journal of Control and Automation 10, no. 3: 303-320.
In the presented paper, the leader-following consensus algorithm of a multi-agent system (MAS) is used along with the centralized event-triggering scheme to make the speed of the network-coupled multiple-motors synchronizable. In the proposed method, the updates for the controller are event-driven based on local information. Moreover, the basic consensus protocol is also revised such that the speed information of the motors is used in order to reach identical speed. The main benefit of the planned event-triggered methodology is the energy saving by avoiding the continuous control of the system. As far as stability analysis of the system is concerned, a common Lyapunov function is incorporated to validate stability. The acquired results endorse the success of the proposed methodology.
Suhaib Masroor; Chen Peng; Zain Anwar Ali. Event Triggered Multi-Agent Consensus of DC Motors to Regulate Speed by LQR Scheme. Mathematical and Computational Applications 2017, 22, 14 .
AMA StyleSuhaib Masroor, Chen Peng, Zain Anwar Ali. Event Triggered Multi-Agent Consensus of DC Motors to Regulate Speed by LQR Scheme. Mathematical and Computational Applications. 2017; 22 (1):14.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng; Zain Anwar Ali. 2017. "Event Triggered Multi-Agent Consensus of DC Motors to Regulate Speed by LQR Scheme." Mathematical and Computational Applications 22, no. 1: 14.
In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV). The mathematical model of the tri-rotor is based on the Newton–Euler formula, whereas the MRAC-based hybrid controller consists of Fuzzy Proportional Integral Derivative (F-PID) and Fuzzy Proportional Derivative (F-PD) controllers. MRAC is used as the main controller for the dynamics, while the parameters of the adaptive controller are fine-tuned by the F-PD controller for the altitude control subsystem and the F-PID controller for the attitude control subsystem of the UAV. The stability of the system is ensured and proven by Lyapunov stability analysis. The proposed control algorithm is tested and verified using computer simulations for the trajectory tracking of the desired path as an input. The effectiveness of our proposed algorithm is compared with F-PID and the Fuzzy Logic Controller (FLC). Our proposed controller exhibits much less steady state error, quick error convergence in the presence of disturbance or noise, and model uncertainties.
Zain Anwar Ali; Daobo Wang; Muhammad Aamir; Suhaib Masroor. Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm. Aerospace 2017, 4, 3 .
AMA StyleZain Anwar Ali, Daobo Wang, Muhammad Aamir, Suhaib Masroor. Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm. Aerospace. 2017; 4 (1):3.
Chicago/Turabian StyleZain Anwar Ali; Daobo Wang; Muhammad Aamir; Suhaib Masroor. 2017. "Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm." Aerospace 4, no. 1: 3.
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Suhaib Masroor; Dao Bo Wang; Muhammad Aamir; Zain Anwar Ali. MRAC base robust RST control scheme for the application of UAV. International Journal of Modelling, Identification and Control 2017, 28, 232 .
AMA StyleSuhaib Masroor, Dao Bo Wang, Muhammad Aamir, Zain Anwar Ali. MRAC base robust RST control scheme for the application of UAV. International Journal of Modelling, Identification and Control. 2017; 28 (3):232.
Chicago/Turabian StyleSuhaib Masroor; Dao Bo Wang; Muhammad Aamir; Zain Anwar Ali. 2017. "MRAC base robust RST control scheme for the application of UAV." International Journal of Modelling, Identification and Control 28, no. 3: 232.
A hybrid control scheme is proposed in this paper to achieve the desired (position and altitude) tracking response of an unmanned aerial vehicle (UAV). The tri-rotor-based aircraft is selected to perform the simulations considering that the dynamic model of the UAV is already unstable, under-actuated and nonlinear in behaviour. The designed control scheme is used to produce the rotational velocities of UAV which are consequently handled by the hybrid controller. The hybrid controller consists of model reference adaptive control (MRAC) with regulation, pole-placement and tracking (RST) controller and the entire system stability is dealt with by MIT rules. The presented control scheme is tested via computer-based simulations to follow the desired position and attitude of UAV. The efficiency of the proposed scheme is compared with MRAC-based MIT rule and its validity is further checked with MRAC-based Lyapunov rule. The results show that the presented hybrid controller exhibits robustness, fast error convergence and a zero steady state error in the existence of model uncertainties and disturbances.
Zain Anwar Ali; Dao Bo Wang; Muhammad Aamir; Suhaib Masroor. MRAC base robust RST control scheme for the application of UAV. International Journal of Modelling, Identification and Control 2017, 28, 232 .
AMA StyleZain Anwar Ali, Dao Bo Wang, Muhammad Aamir, Suhaib Masroor. MRAC base robust RST control scheme for the application of UAV. International Journal of Modelling, Identification and Control. 2017; 28 (3):232.
Chicago/Turabian StyleZain Anwar Ali; Dao Bo Wang; Muhammad Aamir; Suhaib Masroor. 2017. "MRAC base robust RST control scheme for the application of UAV." International Journal of Modelling, Identification and Control 28, no. 3: 232.
Suhaib Masroor; Chen Peng; Muhammad Aamir; Zain Anwar Ali. BLDC Multi-Motor Speed Synchronization by Leader Following Multi-Agent and Hybrid Control. International Journal of Hybrid Information Technology 2016, 9, 231 -242.
AMA StyleSuhaib Masroor, Chen Peng, Muhammad Aamir, Zain Anwar Ali. BLDC Multi-Motor Speed Synchronization by Leader Following Multi-Agent and Hybrid Control. International Journal of Hybrid Information Technology. 2016; 9 (12):231-242.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng; Muhammad Aamir; Zain Anwar Ali. 2016. "BLDC Multi-Motor Speed Synchronization by Leader Following Multi-Agent and Hybrid Control." International Journal of Hybrid Information Technology 9, no. 12: 231-242.
Suhaib Masroor; Chen Peng; Ayesha Rafique; Zain Anwar Ali; Muhammad Aamir. Leader following Speed Consensus in Induction Motors using Multi-Agent and Hybrid Controller Scheme. International Journal of u- and e- Service, Science and Technology 2016, 9, 421 -432.
AMA StyleSuhaib Masroor, Chen Peng, Ayesha Rafique, Zain Anwar Ali, Muhammad Aamir. Leader following Speed Consensus in Induction Motors using Multi-Agent and Hybrid Controller Scheme. International Journal of u- and e- Service, Science and Technology. 2016; 9 (12):421-432.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng; Ayesha Rafique; Zain Anwar Ali; Muhammad Aamir. 2016. "Leader following Speed Consensus in Induction Motors using Multi-Agent and Hybrid Controller Scheme." International Journal of u- and e- Service, Science and Technology 9, no. 12: 421-432.
In this paper, a new agent-based method is proposed to address the speed synchronization problem in the network-connected motors. In this study, DC motor is used, driven by a buck chopper circuit. In the proposed method, the consensus protocol of the leader-following multi-agent system is modified, in order to make consensus on the speed among multiple motors in the network, so that they can attain synchronous speed. In order to have a stable system, a common Lyapunov function is developed such that consensus is said to be reached if the ith agent is controllable and observable. MATLAB is used for the purpose of simulation, and results obtained authorize the proposed methodology.
Suhaib Masroor; Chen Peng. Agent-based consensus on speed in the network-coupled DC motors. Neural Computing and Applications 2016, 30, 1647 -1656.
AMA StyleSuhaib Masroor, Chen Peng. Agent-based consensus on speed in the network-coupled DC motors. Neural Computing and Applications. 2016; 30 (5):1647-1656.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng. 2016. "Agent-based consensus on speed in the network-coupled DC motors." Neural Computing and Applications 30, no. 5: 1647-1656.
The paper presents an adaptive hybrid scheme which is based on fuzzy regulation, pole-placement, and tracking (RST) control algorithm for controlling the attitude and altitude of trirotor UAV. The dynamic and kinematic model of Unmanned Aerial Vehicle (UAV) is unstable and nonlinear in nature with 6 degrees of freedom (DOF); that is why the stabilization of aerial vehicle is a difficult task. To stabilize the nonlinear behavior of our UAV, an adaptive hybrid controller algorithm is used, in which RST controller tuning is performed by adaptive gains of fuzzy logic controller. Simulated results show that fuzzy based RST controller gives better robustness as compared to the classical RST controller.
Zain Anwar Ali; Daobo Wang; Suhaib Masroor; M. Shafiq Loya. Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller. Journal of Control Science and Engineering 2016, 2016, 1 -12.
AMA StyleZain Anwar Ali, Daobo Wang, Suhaib Masroor, M. Shafiq Loya. Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller. Journal of Control Science and Engineering. 2016; 2016 ():1-12.
Chicago/Turabian StyleZain Anwar Ali; Daobo Wang; Suhaib Masroor; M. Shafiq Loya. 2016. "Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller." Journal of Control Science and Engineering 2016, no. : 1-12.
Suhaib Masroor; Chen Peng; Zain Anwar Ali; Jin Zhang. Discrete Time Consensus of Leader Following BLDC Motor with Delay. International Journal of Modeling and Optimization 2016, 6, 150 -155.
AMA StyleSuhaib Masroor, Chen Peng, Zain Anwar Ali, Jin Zhang. Discrete Time Consensus of Leader Following BLDC Motor with Delay. International Journal of Modeling and Optimization. 2016; 6 (3):150-155.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng; Zain Anwar Ali; Jin Zhang. 2016. "Discrete Time Consensus of Leader Following BLDC Motor with Delay." International Journal of Modeling and Optimization 6, no. 3: 150-155.
Suhaib Masroor; Chen Peng; Zain Anwar Ali; Muhammad Aamir. Leader Following Consensus of BLDC Motor Speed with Sampling Intervals. International Journal of Modeling and Optimization 2016, 6, 119 -123.
AMA StyleSuhaib Masroor, Chen Peng, Zain Anwar Ali, Muhammad Aamir. Leader Following Consensus of BLDC Motor Speed with Sampling Intervals. International Journal of Modeling and Optimization. 2016; 6 (2):119-123.
Chicago/Turabian StyleSuhaib Masroor; Chen Peng; Zain Anwar Ali; Muhammad Aamir. 2016. "Leader Following Consensus of BLDC Motor Speed with Sampling Intervals." International Journal of Modeling and Optimization 6, no. 2: 119-123.
Rana Javed Masood; Wang Dao Bo; Zain Anwar Ali; Suhaib Masroor; Muhammad Shafiq Loya. Implementation and Testing of Autonomous Quad-Rotor Aerial Vehicle by Using Ardu-Pilot. International Journal of Information and Electronics Engineering 2016, 6, 123 -129.
AMA StyleRana Javed Masood, Wang Dao Bo, Zain Anwar Ali, Suhaib Masroor, Muhammad Shafiq Loya. Implementation and Testing of Autonomous Quad-Rotor Aerial Vehicle by Using Ardu-Pilot. International Journal of Information and Electronics Engineering. 2016; 6 (2):123-129.
Chicago/Turabian StyleRana Javed Masood; Wang Dao Bo; Zain Anwar Ali; Suhaib Masroor; Muhammad Shafiq Loya. 2016. "Implementation and Testing of Autonomous Quad-Rotor Aerial Vehicle by Using Ardu-Pilot." International Journal of Information and Electronics Engineering 6, no. 2: 123-129.