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Muhammad Mahyuddin
School of Electrical and Electronic Engineering, Engineering Campus, Universiti Sains Malaysia, Nibong Tebal 14300, Pulau Pinang, Malaysia

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Review
Published: 14 July 2021 in Sustainability
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Agrivoltaic systems (AVS) offer a symbiotic strategy for co-location sustainable renewable energy and agricultural production. This is particularly important in densely populated developing and developed countries, where renewable energy development is becoming more important; however, profitable farmland must be preserved. As emphasized in the Food-Energy-Water (FEW) nexus, AVS advancements should not only focus on energy management, but also agronomic management (crop and water management). Thus, we critically review the important factors that influence the decision of energy management (solar PV architecture) and agronomic management in AV systems. The outcomes show that solar PV architecture and agronomic management advancements are reliant on (1) solar radiation qualities in term of light intensity and photosynthetically activate radiation (PAR), (2) AVS categories such as energy-centric, agricultural-centric, and agricultural-energy-centric, and (3) shareholder perspective (especially farmers). Next, several adjustments for crop selection and management are needed due to light limitation, microclimate condition beneath the solar structure, and solar structure constraints. More importantly, a systematic irrigation system is required to prevent damage to the solar panel structure. To summarize, AVS advancements should be carefully planned to ensure the goals of reducing reliance on non-renewable sources, mitigating global warming effects, and meeting the FEW initiatives.

ACS Style

Mohd Zainol Abidin; Muhammad Mahyuddin; Muhammad Mohd Zainuri. Solar Photovoltaic Architecture and Agronomic Management in Agrivoltaic System: A Review. Sustainability 2021, 13, 7846 .

AMA Style

Mohd Zainol Abidin, Muhammad Mahyuddin, Muhammad Mohd Zainuri. Solar Photovoltaic Architecture and Agronomic Management in Agrivoltaic System: A Review. Sustainability. 2021; 13 (14):7846.

Chicago/Turabian Style

Mohd Zainol Abidin; Muhammad Mahyuddin; Muhammad Mohd Zainuri. 2021. "Solar Photovoltaic Architecture and Agronomic Management in Agrivoltaic System: A Review." Sustainability 13, no. 14: 7846.

Conference paper
Published: 08 July 2020 in Lecture Notes in Electrical Engineering
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This project presents a Control Area Network (CAN) based Cooperative Synchronization Control of three articulated robotic arms for Industry 4.0 application. Demand on multi-robot system increases as a result of its flexibility and ability on handling complex task, especially in the era of our nation approaching Industry 4.0. In this project, three robotic arms will be commissioned to synchronize with each other to perform a cooperative task. The cooperative setup employs a multi-agent-inspired framework. A leader agent is assigned to one of the robotic arms which has full knowledge on the desired trajectory signal whereas the other follower agents have partial information. CAN bus will be used as a means of communication between the three robotic arms due to its ease of convenience in terms of configuration and future extension. An intelligent cooperative phase lead controller is to be designed, developed and implemented to guarantee smooth synchronizing motions of robot arms. Experimental frequency response approach is used to identify the input-output model of each joint of each robot agent i. Discrete phase lead controller is designed from the transfer function obtained. The CAN bus network is designed so that slave robot get cooperative consensus error from each other as input signal. The distributed cooperative control robot system is successfully developed. The slave robots tracks the master robot successfully.

ACS Style

Kam Wah Chan; Muhammad Nasiruddin Mahyuddin; Bee Ee Khoo. Network-Based Cooperative Synchronization Control of 3 Articulated Robotic Arms for Industry 4.0 Application. Lecture Notes in Electrical Engineering 2020, 435 -447.

AMA Style

Kam Wah Chan, Muhammad Nasiruddin Mahyuddin, Bee Ee Khoo. Network-Based Cooperative Synchronization Control of 3 Articulated Robotic Arms for Industry 4.0 Application. Lecture Notes in Electrical Engineering. 2020; ():435-447.

Chicago/Turabian Style

Kam Wah Chan; Muhammad Nasiruddin Mahyuddin; Bee Ee Khoo. 2020. "Network-Based Cooperative Synchronization Control of 3 Articulated Robotic Arms for Industry 4.0 Application." Lecture Notes in Electrical Engineering , no. : 435-447.

Journal article
Published: 10 February 2020 in IEEE Access
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A robust nonlinear adaptive controller merging a backstepping approach with neural networks is proposed for a nonlinear non-affine model. The work presented here is evaluated on a complex uncertain model of a continuous stirred tank reactor plant including an unknown varying parameter that enters the complexity model. By exploiting NN and adaptive backstepping approximation methods, an equivalent adaptive NN controller is constructed to achieve robust asymptotic output tracking control. The robustness to uncertainties as well as the lack of informative process data is the main enhancement of this work. This is attained through the implementation of the covariance resetting algorithm in the least square estimation of the NN weight tuning algorithm. The proposed novel control algorithm has been analyzed using Lyapunov analysis. In addition to excellent output trajectory tracking performance, the proposed approach has a profound benefit in terms of substantially lower control effort in comparison to the established work in the literature. In terms of applications in the petrochemical industry, lower control effort can translate to a more energy-efficient actuator, leading to lower costs over a long-run operation. The proposed method’s feasibility for chemical process control was shown via numerical simulation.

ACS Style

Obaid Alshammari; Muhammad Nasiruddin Mahyuddin; Houssem Jerbi. A Neural Network-Based Adaptive Backstepping Control Law With Covariance Resetting for Asymptotic Output Tracking of a CSTR Plant. IEEE Access 2020, 8, 29755 -29766.

AMA Style

Obaid Alshammari, Muhammad Nasiruddin Mahyuddin, Houssem Jerbi. A Neural Network-Based Adaptive Backstepping Control Law With Covariance Resetting for Asymptotic Output Tracking of a CSTR Plant. IEEE Access. 2020; 8 (99):29755-29766.

Chicago/Turabian Style

Obaid Alshammari; Muhammad Nasiruddin Mahyuddin; Houssem Jerbi. 2020. "A Neural Network-Based Adaptive Backstepping Control Law With Covariance Resetting for Asymptotic Output Tracking of a CSTR Plant." IEEE Access 8, no. 99: 29755-29766.

Journal article
Published: 17 October 2019 in IEEE Access
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ACS Style

Obaid Alshammari; Muhammad Nasiruddin Mahyuddin; Houssem Jerbi. An Advanced PID Based Control Technique With Adaptive Parameter Scheduling for A Nonlinear CSTR Plant. IEEE Access 2019, 7, 158085 -158094.

AMA Style

Obaid Alshammari, Muhammad Nasiruddin Mahyuddin, Houssem Jerbi. An Advanced PID Based Control Technique With Adaptive Parameter Scheduling for A Nonlinear CSTR Plant. IEEE Access. 2019; 7 ():158085-158094.

Chicago/Turabian Style

Obaid Alshammari; Muhammad Nasiruddin Mahyuddin; Houssem Jerbi. 2019. "An Advanced PID Based Control Technique With Adaptive Parameter Scheduling for A Nonlinear CSTR Plant." IEEE Access 7, no. : 158085-158094.

Conference paper
Published: 04 July 2019 in Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020)
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Time synchronization is one of the critical and elementary issues that need to be solved in a wireless sensor and actuator network so that all the nodes and actuators can share the same time notion and then cooperate seamlessly. In this paper, an enhanced control-theoretic distributed time synchronization protocol, which utilized sliding mode control and PID control to achieve the convergence is introduced, investigated and compared with existing protocols in literature. As a result, the introduced time synchronization protocol shows convincing results. The protocol can converge in finite time and has the lowest cumulative integral errors among the compared protocols.

ACS Style

Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. Enhanced Time Synchronization Protocol for Wireless Sensor and Actuator Network. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) 2019, 157 -166.

AMA Style

Yeong Chin Koo, Muhammad Nasiruddin Mahyuddin. Enhanced Time Synchronization Protocol for Wireless Sensor and Actuator Network. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020). 2019; ():157-166.

Chicago/Turabian Style

Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. 2019. "Enhanced Time Synchronization Protocol for Wireless Sensor and Actuator Network." Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) , no. : 157-166.

Conference paper
Published: 04 July 2019 in Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020)
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An innovative anti-theft system for automotive is proposed to uphold the principle of improving and solving the problems related to vehicle burglaries in our community. Here, the system was introduced with its design specifically done in fulfilling several considerations such as able to detect the sound frequency produced when the burglar breaks the vehicle’s mirror and also the motion of burglar in the vehicle. The system was designed using microphone and bandpass filter to detect the specific sound frequency of the vehicle’s glass breakage. The motion of burglar in the vehicle will be detected by using PIR sensor in the system. Furthermore, Arduino Nano was used in the system to program the input signal from the sensors to the output such as buzzer which can produces a loud noise to attract the attention of the public and disturbs the decision making of the burglar. In order to improve the system, it was added with a function to be able to make a phone call to the user whenever the system is triggered whether by the glass breakage or the motion of burglar.

ACS Style

Firdaus Zainun; Samson Chan Kit Hwa; Nor Amylia Mohd Halmy; Choong Chia How; Muhammad Nasiruddin Mahyuddin. An Innovative Anti-theft System for Automotive. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) 2019, 167 -175.

AMA Style

Firdaus Zainun, Samson Chan Kit Hwa, Nor Amylia Mohd Halmy, Choong Chia How, Muhammad Nasiruddin Mahyuddin. An Innovative Anti-theft System for Automotive. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020). 2019; ():167-175.

Chicago/Turabian Style

Firdaus Zainun; Samson Chan Kit Hwa; Nor Amylia Mohd Halmy; Choong Chia How; Muhammad Nasiruddin Mahyuddin. 2019. "An Innovative Anti-theft System for Automotive." Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) , no. : 167-175.

Conference paper
Published: 04 July 2019 in Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020)
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Control systems of robot manipulators offer many challenges in education where the students must learn robot dynamics and control structures, and understand relations between the control parameters, and the systems performance. Interactive simulation is aimed at improving the understanding and intuition for the abstract parts of the control of robot courses. Implementation of the control design on a robot manipulator significantly impress and improve the understanding towards the control system learning. This paper presents an application of interactive simulation designed by using the National Instrument’s (NI) LabVIEW to teach control systems of robots by using the Rapid Control Prototyping method. The application considers a nonlinear robot arm and two control modules: computed torque control and PID control. For the computed torque control module, user can directly manipulate graphical representation of the systems such as choice in controller gains, desired trajectories and obtain instant feedback on the effects. PID control module will be the implementation on PID control to a well-developed 2 degree of freedom (DOF) planar robot arm through NI MyRIO-1900. User can visualize the performance of the real robotic system and manipulate the control parameters through user interface. These features make the interactive learning tool stimulating and of high pedagogical value.

ACS Style

Richard Lee Jiang Hong; Muhammad Nasiruddin Mahyuddin; Mohd Rizal Arshad; Yeong Chin Koo. The Design and Development of an Interactive Teaching Tool for Robotics and Control System Course Using Rapid Control Prototyping Solution. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) 2019, 515 -525.

AMA Style

Richard Lee Jiang Hong, Muhammad Nasiruddin Mahyuddin, Mohd Rizal Arshad, Yeong Chin Koo. The Design and Development of an Interactive Teaching Tool for Robotics and Control System Course Using Rapid Control Prototyping Solution. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020). 2019; ():515-525.

Chicago/Turabian Style

Richard Lee Jiang Hong; Muhammad Nasiruddin Mahyuddin; Mohd Rizal Arshad; Yeong Chin Koo. 2019. "The Design and Development of an Interactive Teaching Tool for Robotics and Control System Course Using Rapid Control Prototyping Solution." Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) , no. : 515-525.

Conference paper
Published: 04 July 2019 in Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020)
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A dynamic compensation controller for an exoskeleton robotic arm is designed for the application of upper limb rehabilitation. In this paper, the proposed dynamic compensation controller with robust feature is studied and compared against the conventional PID and sliding-mode controller. The exoskeleton robotic arm need to be controlled to assist post-stroke patient in rehabilitation. The motion executed by the exoskeleton is very crucial as it determines the effectiveness of the physiotherapy assisted by the robotic technology. The assisted therapy is expected to resolve the problem of difficulty of the stroke patient to visit physiotherapist at clinics or hospital by providing an equivalent therapy service back at home. The robotic solution is not to be considered to replace the job of the physiotherapist but rather serves to complement the existing clinical practice. In this paper, we are focusing on rehabilitation of upper limb impairment [1].

ACS Style

Muhammad Taha Ansari; Nur Fasihah Mohd Sobri; Muhammad Nasiruddin Mahyuddin. Dynamic Compensation Controller with Feedback Linearization Technique of 3 Degree of Freedom Exoskeleton Robotic Arm for Upper Limb Rehabilitation Purpose. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) 2019, 557 -568.

AMA Style

Muhammad Taha Ansari, Nur Fasihah Mohd Sobri, Muhammad Nasiruddin Mahyuddin. Dynamic Compensation Controller with Feedback Linearization Technique of 3 Degree of Freedom Exoskeleton Robotic Arm for Upper Limb Rehabilitation Purpose. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020). 2019; ():557-568.

Chicago/Turabian Style

Muhammad Taha Ansari; Nur Fasihah Mohd Sobri; Muhammad Nasiruddin Mahyuddin. 2019. "Dynamic Compensation Controller with Feedback Linearization Technique of 3 Degree of Freedom Exoskeleton Robotic Arm for Upper Limb Rehabilitation Purpose." Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) , no. : 557-568.

Conference paper
Published: 04 July 2019 in Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020)
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The increase rate of consumer demands and stiff global competition among firms forced the industry to increase productivity by optimizing the production capacity to meet daily targeted yield. The presence of bottleneck problem, due to several triggering factors, is one of the root cause of low yield. Thus, to improve the yield whilst at the same time reducing the defects rate in the presence of bottle-neck, one need to seek the best model to accurately represent the production process. In this paper, bottle-neck detection algorithm is discussed and utilization rate for simulated setup of 2 different production topologies; series and parallel are discussed in the perspective of bottle-neck occurrence in the workstations being studied. The main aim of the simulation model is to monitor and analyze the system to pinpoint the bottleneck in the system. The scheduling algorithm is integrated in the proposed model in order to control the bottleneck occurrence, thereby, improving the productivity and meeting the targeted yield.

ACS Style

Azrul Haniedy Jamil; Muhammad Nasiruddin Mahyuddin; Ahmad Rafeek Ibrahim; Timothy Tong. A Bottle Neck Simulation System for a Generic Production Process. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) 2019, 299 -307.

AMA Style

Azrul Haniedy Jamil, Muhammad Nasiruddin Mahyuddin, Ahmad Rafeek Ibrahim, Timothy Tong. A Bottle Neck Simulation System for a Generic Production Process. Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020). 2019; ():299-307.

Chicago/Turabian Style

Azrul Haniedy Jamil; Muhammad Nasiruddin Mahyuddin; Ahmad Rafeek Ibrahim; Timothy Tong. 2019. "A Bottle Neck Simulation System for a Generic Production Process." Proceedings of the 2nd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2020) , no. : 299-307.

Journal article
Published: 01 May 2019 in Indonesian Journal of Electrical Engineering and Computer Science
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Time synchronization is very important in a wireless sensor and actuator network (WSAN) as it provides a common time notation to the WSAN. To handle the time synchronization issue, this paper presented an enhanced distributed control-theoretic time synchronization protocol for wireless sensor and actuator networks, named Time Synchronization using Distributed Observer algorithm with Sliding mode control element (TSDOS). In this protocol, an augmented sliding mode control element is used for robustification purpose. From the theoretical convergence analysis and simulation results presented in this paper, it proved that the proposed TSDOS is the best if compared to another two algorithms from the literature in terms of cumulative integral absolute error.

ACS Style

Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. An enhanced distributed control-theoretic time synchronization protocol using sliding mode control for wireless sensor and actuator network. Indonesian Journal of Electrical Engineering and Computer Science 2019, 14, 688 -696.

AMA Style

Yeong Chin Koo, Muhammad Nasiruddin Mahyuddin. An enhanced distributed control-theoretic time synchronization protocol using sliding mode control for wireless sensor and actuator network. Indonesian Journal of Electrical Engineering and Computer Science. 2019; 14 (2):688-696.

Chicago/Turabian Style

Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. 2019. "An enhanced distributed control-theoretic time synchronization protocol using sliding mode control for wireless sensor and actuator network." Indonesian Journal of Electrical Engineering and Computer Science 14, no. 2: 688-696.

Conference paper
Published: 02 April 2019 in Lecture Notes in Electrical Engineering
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This paper discusses time synchronization in wireless sensor and actuator networks. An enhanced time synchronization protocol which using distributed control scheme, incorporates with sliding mode control and PID control is presented in this paper. The presented protocol besides having the advantages of a distributed time synchronization protocol, it also has faster convergence rate and lower energy consumption, compared to a protocol from literature.

ACS Style

Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. Time Synchronization in WSAN Using Sliding Mode and PID Control. Lecture Notes in Electrical Engineering 2019, 435 -441.

AMA Style

Yeong Chin Koo, Muhammad Nasiruddin Mahyuddin. Time Synchronization in WSAN Using Sliding Mode and PID Control. Lecture Notes in Electrical Engineering. 2019; ():435-441.

Chicago/Turabian Style

Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. 2019. "Time Synchronization in WSAN Using Sliding Mode and PID Control." Lecture Notes in Electrical Engineering , no. : 435-441.

Journal article
Published: 05 March 2019 in IEEE Access
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In this paper, a novel solution for cooperative localization problem involving a network with multiple mobile agents accessing to only one beacon agent, is presented. The solution can be applied to a network with minimum number of communication links (subjecting the network topology to be an undirected spanning tree). The objective is to provide each agent in the network with information on its absolute position without using any on-board global positioning sensors such as GPS receivers. The proposed solution uses an adaptive relative position estimation algorithm for each pair of the neighboring mobile agents. The proposed estimation algorithm requires each agent to measure the relative inter-agent distance. Local velocity vector is also measured and transmitted to the neighboring agents. The estimation mechanism incorporating a signum function outperforms the recently established relative position estimation algorithms, in terms of positioning and tracking errors. An adaptive cooperative localization (ACL) algorithm is formed by augmenting the relative position estimation in a cooperative observer scheme suitably applicable for accomplishing localization task involving a network of mobile agents. The salient feature of the proposed ACL algorithm is that the communication graph among the agents needs only to have one undirected path between two agents in the network. Such convenience promotes easy practical implementation and lite computation for each agent. The proof of the proposed algorithm is provided using Lyapunov stability theorem. Three simulation case studies are presented to evaluate the performance of the solution in different scenarios, including the stationary and moving beacon agent as well as the non-cooperatively controlled and cooperatively controlled network of mobile agents. Comparative studies reveal that ACL algorithm is superior than the recently investigated linear-convex algorithm. The number of communication links required for the localization task to be carried out by the proposed algorithm is minimum, thus promoting a more preferable energy-efficient solution.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. Adaptive Cooperative Localization Using Relative Position Estimation for Networked Systems With Minimum Number of Communication Links. IEEE Access 2019, 7, 32368 -32382.

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. Adaptive Cooperative Localization Using Relative Position Estimation for Networked Systems With Minimum Number of Communication Links. IEEE Access. 2019; 7 (99):32368-32382.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2019. "Adaptive Cooperative Localization Using Relative Position Estimation for Networked Systems With Minimum Number of Communication Links." IEEE Access 7, no. 99: 32368-32382.

Articles
Published: 26 October 2018 in International Journal of Systems Science
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In this paper, a solution of the formation-tracking problem is provided for a network that contains nonlinear agents with completely unknown dynamics and working under unknown disturbances. By the combination of a cooperative observer and an adaptive model-free controller, the requirement of inter-agent relative position information in the network is eliminated. Here, a cooperative observer is designed to estimate the time-varying reference trajectory and the time-varying parameters of the desired formation topology at each agent in the network. The stability of the proposed cooperative observer is analysed using Lyapunov analysis. Utilising the cooperative observer, the formation-tracking problem in the network of dynamic agents is transformed to a tracking problem in a single agent system. Moreover, an adaptive model-free control policy is applied to each agent for providing the tracking objective. Utilising the algebraic connectivity originating from graph theory, this model-free control algorithm is formulated to scale-up for a network of multi-agents. The proposed decentralised controller includes two model-free adaptive laws for online estimating of the completely unknown dynamics at each agent in the network. The application of the proposed solution is simulated for a network of four quadrotors with unknown internal dynamics and unknown external disturbances.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. A solution for the cooperative formation-tracking problem in a network of completely unknown nonlinear dynamic systems without relative position information. International Journal of Systems Science 2018, 49, 3459 -3475.

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. A solution for the cooperative formation-tracking problem in a network of completely unknown nonlinear dynamic systems without relative position information. International Journal of Systems Science. 2018; 49 (16):3459-3475.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2018. "A solution for the cooperative formation-tracking problem in a network of completely unknown nonlinear dynamic systems without relative position information." International Journal of Systems Science 49, no. 16: 3459-3475.

Research article
Published: 01 September 2018 in International Journal of Advanced Robotic Systems
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In this article, a distributed model-free consensus control is proposed for a network of nonlinear agents with unknown nonlinear dynamics, unknown process disturbances, and white noise measurement disturbances. Here, the purpose of the control protocol is to first synchronize the states of all follower agents in the network to a leader and then track a reference trajectory in the state space. The leader has at least one information connection with one of the follower agents in the network. The design procedure includes adaptive laws for estimating the unknown linear and nonlinear terms of each agent’s dynamics. The salient feature of the proposed control scheme is that each agent’s estimation is a model-free adaptive law, that is, the need for regressor or linear-in-parameter basis is alleviated. In addition, without requiring direct connection to the leader, the leader’s control input can still be reconstructed by virtue of a robust observer which can be defined in a distributed manner in the network. The entire design procedure is analyzed successfully for the stability using Lyapunov stability theorem. In addition, it is shown that the proposed distributed controller includes an optimal term. Besides, a modified Kalman filter is added to eliminate the measurement noise. Finally, the simulation results on three networks of unknown nonlinear systems are presented. Moreover, a comparative study is presented to evaluate the proposed algorithm against a model-based cooperative control algorithm.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. Distributed adaptive model-free cooperative control for a network of generic unknown nonlinear systems. International Journal of Advanced Robotic Systems 2018, 15, 1 .

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. Distributed adaptive model-free cooperative control for a network of generic unknown nonlinear systems. International Journal of Advanced Robotic Systems. 2018; 15 (5):1.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2018. "Distributed adaptive model-free cooperative control for a network of generic unknown nonlinear systems." International Journal of Advanced Robotic Systems 15, no. 5: 1.

Conference paper
Published: 01 July 2018 in 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)
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In this paper, the recently developed optimal adaptive model-free control (OAMFC) algorithm is applied to a dynamic model of an autonomous underwater vehicle (AUV), which is considered as a completely unknown non-linear dynamic system. The OAMFC algorithm includes two regressor-free estimators for on-line adaptation of the unknown nonlinearities in the dynamic system. Moreover, the algorithm includes an optimal term, which provides the optimal solution for tracking problem by minimizing a predefined objective function. The simulation results for implementation of the OAMFC algorithm on the proposed dynamic model of the AUV are presented, which show the appropriate performance of the algorithm.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. Application of the Optimal Adaptive Model-Free Control Algorithm on an Autonomous Underwater Vehicle. 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) 2018, 346 -350.

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. Application of the Optimal Adaptive Model-Free Control Algorithm on an Autonomous Underwater Vehicle. 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM). 2018; ():346-350.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2018. "Application of the Optimal Adaptive Model-Free Control Algorithm on an Autonomous Underwater Vehicle." 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) , no. : 346-350.

Article
Published: 13 March 2018 in International Journal of Adaptive Control and Signal Processing
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In this paper, the design procedure for optimal model-free control algorithm is presented for the tracking problem of completely unknown nonlinear dynamic systems operating under unknown disturbances. The procedure includes a new structure in the context of model-free control and data-driven control algorithms. In the new structure, the unknown nonlinear functions are segmented into 1 unknown linear-in-states part and another unknown nonlinear part. The adaptive laws proposed for estimating the unknown system dynamics are regressor-free estimation methods in which there is no need for regressor parameters and, consequently, the persistent excitation condition is not required anymore. Moreover, the main controller gains are updated online, incorporating the adapted values of linear terms in the system dynamics. A comparative study is presented to show that the proposed optimal model-free control outperforms the state-of-the-art model-free control algorithms. In addition, the simulation results for the application of the algorithm on autonomous mobile robots are provided.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. Optimal model-free control for a generic MIMO nonlinear system with application to autonomous mobile robots. International Journal of Adaptive Control and Signal Processing 2018, 32, 792 -815.

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. Optimal model-free control for a generic MIMO nonlinear system with application to autonomous mobile robots. International Journal of Adaptive Control and Signal Processing. 2018; 32 (6):792-815.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2018. "Optimal model-free control for a generic MIMO nonlinear system with application to autonomous mobile robots." International Journal of Adaptive Control and Signal Processing 32, no. 6: 792-815.

Journal article
Published: 29 January 2018 in IEEE Access
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In this paper, a new structure to design model-free control (MFC) based on the ultralocal model is presented for an unknown nonlinear single-input single-output (SISO) dynamic system. The proposed structure includes two adaptive laws corresponding to the unknown linear and nonlinear terms. Utilizing the adaptive law for linear term, the controller gain is going to be updated online using a differential Riccati equation (DRE). Subsequently, the control policy which includes an optimal term as well as a term for compensating the system unknown dynamics is generated. Here, the two proposed adaptive laws are model-free estimation algorithms, in which the need for any regressor parameter and also the persistent excitation (PE) condition is eliminated. Finally, two simulation studies are presented to show that the proposed adaptive model-free control (AMFC) policy outperforms the two well-known controllers. Moreover, the AMFC is applied on a Duffing-Holmes chaotic oscillator plant and the convincing performance of the algorithm is observed through the simulation results.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. Adaptive Model-Free Control Based on an Ultra-Local Model With Model-Free Parameter Estimations for a Generic SISO System. IEEE Access 2018, 6, 4266 -4275.

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. Adaptive Model-Free Control Based on an Ultra-Local Model With Model-Free Parameter Estimations for a Generic SISO System. IEEE Access. 2018; 6 (99):4266-4275.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2018. "Adaptive Model-Free Control Based on an Ultra-Local Model With Model-Free Parameter Estimations for a Generic SISO System." IEEE Access 6, no. 99: 4266-4275.

Conference paper
Published: 01 December 2017 in 2017 11th Asian Control Conference (ASCC)
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In this paper, a decentralized model-free consensus control is proposed for a network of nonlinear agents with unknown nonlinear dynamics, unknown process disturbances and white noise measurement disturbances. Here, the main purpose of control protocol is to first synchronize the states of all follower agents in the network to a leader and then track a reference trajectory in the systems state-space. Here, the leader has at least one information connection with one of the follower agents in the network. The design procedure includes adaptive laws for estimating the unknown linear and nonlinear terms of each agent's dynamics. The estimation for nonlinear terms is in a model-free format. Moreover, a robust observer is designed to approximate the values of leader's control parameters at the agents without connection to the leader. Another observer is incorporated to filter the noisy measurements of the system states. The entire design procedure is analysed successfully for the stability using Lyapunov stability theorem. Finally, the simulation results for application of the algorithm on a network of Duffing-Holmes chaotic systems are presented.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. Adaptive model-free consensus control for a network of nonlinear agents under the presence of measurement noise. 2017 11th Asian Control Conference (ASCC) 2017, 1701 -1706.

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. Adaptive model-free consensus control for a network of nonlinear agents under the presence of measurement noise. 2017 11th Asian Control Conference (ASCC). 2017; ():1701-1706.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2017. "Adaptive model-free consensus control for a network of nonlinear agents under the presence of measurement noise." 2017 11th Asian Control Conference (ASCC) , no. : 1701-1706.

Conference paper
Published: 01 December 2017 in 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS)
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In this paper, a distributed observer is designed for estimating the system states of autonomous underwater vehicles using the measured states at a beacon surface vehicle. Here, the past data of control signals is not included in the observer policy. Thus the coupling between observer and controller policies are removed completely. Only the inter-agent relative differences between the agents alongside with the relative difference of the beacon's states with one of the agents in the network are required for reaching convergence in both observer and controller consensus errors. A simulation study for a network of four singleintegrator dynamic agents is provided for performance evaluation of the proposed algorithm.

ACS Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. Distributed observer for a team of autonomous underwater vehicles utilizing a beacon unit on the surface. 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) 2017, 1 -5.

AMA Style

Ali Safaei, Muhammad Nasiruddin Mahyuddin. Distributed observer for a team of autonomous underwater vehicles utilizing a beacon unit on the surface. 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS). 2017; ():1-5.

Chicago/Turabian Style

Ali Safaei; Muhammad Nasiruddin Mahyuddin. 2017. "Distributed observer for a team of autonomous underwater vehicles utilizing a beacon unit on the surface." 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS) , no. : 1-5.

Proceedings article
Published: 01 October 2017 in 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)
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In this paper, a model-free control policy for tracking problem in robotic manipulators with any numbers of degree-of-freedom (DOF) is proposed. Here, it is assumed that the dynamics of manipulators contains bounded unknown nonlinearities and external disturbances. The algorithm includes two separate robust adaptive laws for estimating the unknown nonlinear terms and unknown system matrix. The adaptive law for estimation of the nonlinear terms is a model-free estimation algorithm, since it does not require any regressor parameters. The proposed algorithm is analysed using Lyapunov stability theorem. Moreover, it is shown that the controller incorporates an optimal policy considering a specific cost function. The performance of the proposed algorithm is studied on simulation of a two-arm robotic manipulator with tracking objective.

ACS Style

Ali Safaei; Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. Adaptive model-free control for robotic manipulators. 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) 2017, 7 -12.

AMA Style

Ali Safaei, Yeong Chin Koo, Muhammad Nasiruddin Mahyuddin. Adaptive model-free control for robotic manipulators. 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS). 2017; ():7-12.

Chicago/Turabian Style

Ali Safaei; Yeong Chin Koo; Muhammad Nasiruddin Mahyuddin. 2017. "Adaptive model-free control for robotic manipulators." 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) , no. : 7-12.