Author
Abdul Rashid Husain
Other affiliations: Universiti Teknikal Malaysia Melaka
Bio: Abdul Rashid Husain is an academic researcher from Universiti Teknologi Malaysia. The author has contributed to research in topics: Control theory & Sliding mode control. The author has an hindex of 17, co-authored 122 publications receiving 1133 citations. Previous affiliations of Abdul Rashid Husain include Universiti Teknikal Malaysia Melaka.
Papers published on a yearly basis
Papers
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TL;DR: In this article, the authors presented an optimal performance control scheme for control of a 3D crane system including a zero vibration shaper, which considers two control objectives concurrently: fast and accurate positioning of a trolley and minimum sway of a payload.
93 citations
TL;DR: The developed robust control system comprises a backstepping-based robust control design of the quadrotor UAV that can guarantee the stability of the nominal model system, while PD control is used to attenuate the effects caused by system uncertainties.
Abstract: Quadrotor unmanned aerial vehicle (UAV) is an underactuated multi-input and multi-output (MIMO) system which has nonlinear dynamic behavior such as high coupling degree and unknown nonlinearities. It is a great challenge to design a quadrotor control system due to these features. In this paper, the contribution is focused on the backstepping-based robust control design of the quadrotor UAV. Firstly, the dynamic model of the aerial vehicle is mathematically formulated. Then, a robust controller is designed for the stabilization and tracking control of the vehicle. The developed robust control system comprises a backstepping and a proportional-derivative (PD) controller. Backstepping is a recursive design methodology that uses Lyapunov theorem which can guarantee the stability of the nominal model system, while PD control is used to attenuate the effects caused by system uncertainties. For the problem of determining the backstepping control parameters, particle swarm optimization (PSO) algorithm has been employed. In addition, the genetic algorithm (GA) technique is also adopted for the purpose of performance comparison with PSO scheme. Finally, the designed controller is experimentally evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development.
80 citations
TL;DR: An improved unity magnitude zero vibration (UMZV) shaper for payload sway reduction of an underactuated 3D overhead crane with hoisting effects is proposed and can be useful for an operator to handle cranes in three dimensions without motion-induced sway problem.
70 citations
TL;DR: In this article, an adaptive backstepping control for a MIMO quadrotor helicopter perturbed by unknown parameter uncertainties and external disturbances is proposed, which uses a radial basis function neural network (RBFNN) as a perturbation approximator.
Abstract: Designing a controller for multi-input-multi-output (MIMO) uncertain non-linear systems is one of the most important challenging works. In this paper, the contribution is focused on the design and analysis of an intelligent adaptive backstepping control for a MIMO quadrotor helicopter perturbed by unknown parameter uncertainties and external disturbances. The design approach is based on the backstepping technique and uses a radial basis function neural network (RBFNN) as a perturbation approximator. First, a backstepping controller optimized by the particle swarm optimization is developed for a nominal helicopter dynamic model. Then, the unknown perturbations are approximated based on the universal approximation property of the RBFNN. The parameters of the RBFNN are adjusted through online learning. To improve the control design performance further, a fuzzy compensator is introduced to eliminate the approximation error produced by the neural approximator. Asymptotical stability of the closed-loop control system is analytically proven via the Lyapunov theorem. The main advantage of the proposed methodology is that no prior knowledge of parameter uncertainties and disturbances is required. Simulations of hovering and trajectory tracking missions of a quadrotor helicopter are conducted. The results demonstrate the effectiveness and feasibility of the proposed approach
61 citations
TL;DR: In this article, a robust control based on linear quadratic regulator (LQR) for a flexible link manipulator is presented, where the robust control presented faster settling time and smaller overshoot responses and tracking performances compared with PID controllers.
Abstract: The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. This paper presents design and development of a robust control based on linear quadratic regulator (LQR) for a flexible link manipulator. System performances were evaluated in terms of input tracking capability of hub angular position response, end-point displacement, end-point residual and hub velocity. For the controller of the system, LQR was developed to solve flexible link robustness and input tracking capability of hub angular position. The results achieved by the proposed controller are compared with conventional PID, to substantiate and verify the advantages of the proposed scheme and its promising potential in control of a flexible link manipulator. The robust control presented faster settling time and smaller overshoot responses and tracking performances of the proposed controller compared with PID controllers.
51 citations
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11 Dec 2012
1,704 citations
13 Aug 2010
TL;DR: All rights reserved.
Abstract: All rights reserved. No part of the publication may be reproduced in any form by print, photoprint, microfilm or any other means without written permission from the publisher.
430 citations
01 Jan 2016
TL;DR: The hydraulic control systems is universally compatible with any devices to read and is available in the book collection an online access to it is set as public so you can get it instantly.
Abstract: Thank you for downloading hydraulic control systems. As you may know, people have look numerous times for their chosen readings like this hydraulic control systems, but end up in infectious downloads. Rather than reading a good book with a cup of tea in the afternoon, instead they are facing with some infectious bugs inside their laptop. hydraulic control systems is available in our book collection an online access to it is set as public so you can get it instantly. Our book servers saves in multiple countries, allowing you to get the most less latency time to download any of our books like this one. Merely said, the hydraulic control systems is universally compatible with any devices to read.
425 citations
TL;DR: A comprehensive review of crane control strategies discussing the latest research works during the years from 2000 to 2016 is presented in this article, where various crane types and control issues are highlighted, followed by the main focus of this paper, an extensive review of the control schemes for diverse types of crane systems that have been carried out in the 21st century.
269 citations
TL;DR: The methods which have been investigated and the controllers used, first for balancing and movement of two-wheeled robots on flat terrain, then for two-wheeleled robots in other situations, where terrain may not be flat, where there may be secondary objectives and where the robots may have additional actuators.
191 citations