S
Said Ghani Khan
Researcher at Taibah University
Publications - 50
Citations - 706
Said Ghani Khan is an academic researcher from Taibah University. The author has contributed to research in topics: Control theory & Humanoid robot. The author has an hindex of 11, co-authored 43 publications receiving 528 citations. Previous affiliations of Said Ghani Khan include DuPont & University of Bristol.
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Reinforcement learning and optimal adaptive control: An overview and implementation examples
TL;DR: An example of an implementation of a novel model-free Q-learning based discrete optimal adaptive controller for a humanoid robot arm that uses a novel adaptive dynamic programming (ADP) reinforcement learning (RL) approach to develop an optimal policy on-line.
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Real-Time Sliding Mode Observer Scheme for Shear Force Estimation in a Transverse Dynamic Force Microscope
Thang Nguyen Tien,Said Ghani Khan,Toshiaki Hatano,Kaiqiang Zhang,Christopher Edwards,Guido Herrmann,Robert L. Harniman,Stuart C Burgess,Massimo Antognozzi,Mervyn J Miles +9 more
TL;DR: In this article, a sliding mode observer was used to estimate the shear forces of a vertically oriented cantilever in a Transverse Dynamic Force Microscope (TDFM).
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Nonlinear control systems - A brief overview of historical and recent advances
TL;DR: The scope of the present paper is beyond linear solutions, and historical role of analytical concepts in analysis and design of nonlinear control systems, which is the topic of this paper.
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Safe Adaptive Compliance Control of a Humanoid Robotic Arm with Anti-Windup Compensation and Posture Control
TL;DR: An adaptive compliance model reference controller was implemented in real-time on a 4 degrees of freedom (DOF) humanoid robotic arm in Cartesian space to solve the safety problem by dealing with impact and other forces arising during close contact between humans and robots.
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A novel robust adaptive control algorithm with finite-time online parameter estimation of a humanoid robot arm
TL;DR: A novel robust adaptive control algorithm is proposed and implemented in real-time on two degrees-of-freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in joint-space and exhibits robustness both in the tracking and parameter estimation errors to any bounded additive disturbance.