Dynamic Integral Sliding Mode for MIMO Uncertain Nonlinear Systems

Qudrat Khan,Aamer Iqbal Bhatti,Sohail Iqbal,Mohammad Iqbal 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.1

In this paper the authors propose a novel sliding mode control methodology for Multi-Input and Multi-Output (MIMO) uncertain nonlinear systems. The proposed approach synthesizes dynamic sliding mode and integral sliding mode control strategies into dynamic integral sliding mode. The new control laws establish sliding mode without reaching phase with the use of an integral sliding manifold. Consequently, robustness against uncertainties increases from the very beginning of the process. Fur-thermore, the control laws considerably alleviate chattering along the switching manifold. In addition, the performance of the controller boost up in the presence of uncertainties. A comprehensive compara-tive analysis carried out with dynamic sliding mode control and integral sliding mode control demon-strates superiority of the newly designed control law. A chatter free regulation control of two uncertain nonlinear systems with improved performance in the presence of uncertainties ensures the robustness of the proposed dynamic integral sliding mode controller.

An enhanced framework for multimedia data: Green transmission and portrayal for smart traffic system

Iqbal, Muhamad Munwar,Mehmood, Muhammad Tahir,Jabbar, Sohail,Khalid, Shehzad,Ahmad, Awais,Jeon, Gwanggil Elsevier 2018 Computers & electrical engineering Vol.67 No.-

<P><B>Abstract</B></P> <P>The object tracking in video surveillance for intelligent traffic handling in smart cities requires an enormous amount of data called big data to be transmitted over the network using the Internet of Things. Manual monitoring and surveillance are impossible because traditional computer vision technologies are no more useful for massive processing and intelligent decision making. In this paper, a framework is proposed which enables both on spot data processing and intelligent decision making by using cloud computing. The developed application is a trained on Artificial Neural Network, which can handle different traffic techniques with congested traffic scenario and priorities traffic such as ambulance handling. The Message Queue Telemetry Transport protocol is used for green transmission with mobile access to traffic data. The results analyzed with thirty videos processed data which handle real-time data prioritization for the people for smart surveillance to fastest route and enhance the intelligent data transmission.</P>

Optimized Deep Learning Techniques for Disease Detection in Rice Crop using Merged Datasets

Muhammad Junaid,Sohail Jabbar,Muhammad Munwar Iqbal,Saqib Majeed,Mubarak Albathan,Qaisar Abbas,Ayyaz Hussain International Journal of Computer ScienceNetwork S 2023 International journal of computer science and netw Vol.23 No.3

Rice is an important food crop for most of the population in the world and it is largely cultivated in Pakistan. It not only fulfills food demand in the country but also contributes to the wealth of Pakistan. But its production can be affected by climate change. The irregularities in the climate can cause several diseases such as brown spots, bacterial blight, tungro and leaf blasts, etc. Detection of these diseases is necessary for suitable treatment. These diseases can be effectively detected using deep learning such as Convolution Neural networks. Due to the small dataset, transfer learning models such as vgg16 model can effectively detect the diseases. In this paper, vgg16, inception and xception models are used. Vgg16, inception and xception models have achieved 99.22%, 88.48% and 93.92% validation accuracies when the epoch value is set to 10. Evaluation of models has also been done using accuracy, recall, precision, and confusion matrix.

Design, Analysis and Experimental Investigation of Micro Piezoelectric Vibrational Energy Harvester with Enhanced Power Extraction at Low Frequency

Muhammad Shahbaz,Sohail Iqbal,M. Mubasher Saleem,R. I. Shakoor 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.2

Wireless sensor nodes (WSNs) and embedded microsystems (EMS) have become a center of focus for researchers from all over the world due to their enormous sensing and monitoring applications in multiple areas including biotechnology, agriculture, healthcare, and consumer electronics. To ensure proper functioning of these systems, continuous power supply is required. The research paper presents a piezoelectric vibrational energy harvester that is designed with enhanced power extraction capability at low frequency. A compliant trapezoidal beam with optimized proof mass placement at one end, to enhance piezoelectric output, is designed, fabricated, and experimentally tested. The parametric design of the energy harvester consists of a piezoelectric ceramic crystal barium titanate (BaTiO3) bonded to an optimized micro-folded trapezoidal beam. The designed energy harvester has been analytically modeled using Euler beam theory and simulated using MATLAB. The static, dynamic and piezoelectric energy conversion response of the energy harvester is verified through finite element method (FEM) based Multiphysics simulations. The fabrication of the energy harvester design has been carried out using low-cost wire cutting process. The experimental characterization of the proposed energy harvester shows that 32.36 V voltage and 2.216 mW power can be extracted at the operational frequency of 15 Hz with a factor of safety of 1.30. The experimental characterization results showed a good agreement with the FEM simulations with an error < 7%. The proposed energy harvester can be used to power WSNs, EMS, micro control units and microdevices using low frequency vibrations.

One-sided Prime Ideals in Semirings

Shabir, Muhammad,Iqbal, Muhammad Sohail Department of Mathematics 2007 Kyungpook mathematical journal Vol.47 No.4

In this paper we define prime right ideals of semirings and prove that if every right ideal of a semiring R is prime then R is weakly regular. We also prove that if the set of right ideals of R is totally ordered then every right ideal of R is prime if and only if R is right weakly regular. Moreover in this paper we also define prime subsemimodule (generalizing the concept of prime right ideals) of an R-semimodule. We prove that if a subsemimodule K of an R-semimodule M is prime then $A_K(M)$ is also a prime ideal of R.

Chattering and Stability Analysis of the Sliding Mode Control Using Inverse Hyperbolic Function

Muhammad Asad,Muhammad Ashraf,Sohail Iqbal,Aamer Iqbal Bhatti 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6

Chattering is a known issue in sliding mode control (SMC) and much research has been carried out tomitigate the chattering and its effects. In this work the chattering and stability analysis of the inverse hyperbolicfunction (IHF) based reaching law (RL) has been carried out. The work mathematically formulates the reachingtime and calculates the describing function (DF) for the IHF based RL, which is used to formulate the conditions forchattering avoidance. The bound for the gain of RL has been calculated that will result in the chattering avoidance. Finally the proposed scheme has been used to control the speed of DC motor. Experimental results show avoidanceof chattering and reduction in the reaching time.

A Smooth Integral Sliding Mode Controller and Disturbance Estimator Design

Muhammad Asad,Aamer Iqbal Bhatti,Sohail Iqbal,Yame Asfia 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.6

Integral sliding mode control eliminates the reaching phase of the traditional sliding mode and is therefore robust from the start. However, the phenomenon of chattering inherent to the sliding mode control technique is not eradicated and may result in chattering at the control input. In this work a novel integral sliding mode controller is formulated where the discontinuous control law is based on inverse hyperbolic function and provides variable gain which is a function of the sliding manifold. As the system states converge towards the surface the gain of the discontinuous controller reduces and results in relatively smoother control effort at the steady state. The proposed controller is robust against parameter variations, perturbations and is also used for the disturbance estimation and rejection. Stability of the proposed controller is proved with the help of Lyapunov method. The proposed controller is used to design the controllers for two different problems. The DC motor speed control where the chattering elimination and disturbance cancellation are shown with the help of simulations. In the second problem a digital phase locked loop is designed by using proposed controller where the phenomenon of oscillator pulling is eradicated by the rejection of the injection tone which is treated as a disturbance. Experimental results show eradication of the chattering phenomenon as well as the disturbance.

Design and Development of a Semi-Autonomous Stair Climbing Robotic Platform For Rough Terrains

Muhammad Umar Masood,Muhammad Ahsan Sami,Haris Sohail,Muhammad Mujtaba,Muhammad Abubakar Siddique,Hashir Akram,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

This paper presents the design of a stair climbing fixed flipper unmanned ground vehicle (UGV) for urban search and rescue purposes. Mobile flippers are being used in certain UGVs for enhanced mobility in rough terrains, however, the control algorithm of these platforms is complex. To add this enhanced mobility in the UGV and to reduce the intricacy of the control algorithm, anterior end of the tracks are lifted up which enables the UGV to pass over obstacles with relative ease. To prevent the rollover of UGV while moving on an inclined surface, an image processing algorithm was developed which halts the motion of UGV if the calculated slope exceeds the threshold value with a maximum error of about 8%. Furthermore, left and right track velocities along with the turn radius were also calculated.

Combined application of biochar, compost, and bacterial consortia with Italian ryegrass enhanced phytoremediation of petroleum hydrocarbon contaminated soil

Hussain, Fida,Hussain, Imran,Khan, Aqib Hassan Ali,Muhammad, Yousaf Shad,Iqbal, Mazhar,Soja, Gerhard,Reichenauer, Thomas Gerhard,Zeshan, Thomas Gerhard,Yousaf, Sohail Elsevier 2018 Environmental and experimental botany Vol.153 No.-

<P><B>Abstract</B></P> <P>Petroleum hydrocarbons are extensively utilized in petrochemical industries and cause soil deterioration during exploration, transportation, refining and making petroleum products. We hypothesized that the combined use of compost, biochar and bacterial consortia as soil amendments may enhance the rhizoremediation potential of ryegrass by strengthening the plant rhizospheric effect for efficient total petroleum hydrocarbon removal. The present study focused on phytoremediation of hydrocarbons in spiked contaminated soil amended with biochar (5% v/v), and compost (5% v/v). Spiked soil was inoculated with consortia of four hydrocarbon degrading bacterial strains (<I>Pseudomonas poae, Actinobacter bouvetii, Stenotrophomonas rhizophila</I> and <I>Pseudomonas rhizosphaerae</I>). The spiked soil was prepared by spiking agricultural soil with 3.4% (w/w) of crude oil. Italian ryegrass (60 seeds pot<SUP>−1</SUP>) were sown and plants were harvested after 75 days.</P> <P>The highest hydrocarbon removal (85%) was observed in spiked soil amended with compost, biochar and consortia. Bacterial inoculation with biochar and compost showed significantly higher hydrocarbon degradation as compared to all other treatments. Highest TPHs degrading bacteria (5.74 × 10<SUP>7</SUP> cells g<SUP>−1</SUP> of soil) were observed in rhizosphere of spiked soil amended with compost, biochar and consortia. The organic amendments improved plant growth and bacterial count in rhizosphere which resulted in higher removal of hydrocarbons. We concluded that plant-microbe interactions together with the organic soil amendments offer an emerging trend for remediation of hydrocarbons. Rhizoremediation is a green solution to overcome the quandary of total petroleum hydrocarbon contamination in soil.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Biochar and compost amendment enhanced rhizosphere effect. </LI> <LI> TPHs Rhizoremediation is improved by bacterial consortia and organic amendments. </LI> <LI> The organic amendments improved plant growth and bacterial count in rhizosphere. </LI> <LI> Compost is a rich source of bacteria in the rhizosphere. </LI> </UL> </P>