Papers by izzat Al-Darraji
A Preliminary Study and Implementing Algorithm Using Finite State Automaton for Remote Identification of Drones
Applied sciences, Feb 11, 2023
Mathematics
A Wearable Robotic Knee (WRK) is a mobile device designed to assist disabled individuals in movin... more A Wearable Robotic Knee (WRK) is a mobile device designed to assist disabled individuals in moving freely in undefined environments without external support. An advanced controller is required to track the output trajectory of a WRK device in order to resolve uncertainties that are caused by modeling errors and external disturbances. During the performance of a task, disturbances are caused by changes in the external load and dynamic work conditions, such as by holding weights while performing the task. The aim of this study is to address these issues and enhance the performance of the output trajectory tracking goal using an adaptive robust controller based on the Radial Basis Function (RBF) Neural Network (NN) system and Hamilton–Jacobi Inequality (HJI) approach. WRK dynamics are established using the Lagrange approach at the outset of the analysis. Afterwards, the L2 gain technique is applied to enhance the control motion solutions and provide the main features of the designed WR...
Journal of Sensors
Every so often, a confluence of novel technologies emerges that radically transforms every aspect... more Every so often, a confluence of novel technologies emerges that radically transforms every aspect of the industry, the global economy, and finally, the way we live. These sharp leaps of human ingenuity are known as industrial revolutions, and we are currently in the midst of the fourth such revolution, coined Industry 4.0 by the World Economic Forum. Building on their guideline set of technologies that encompass Industry 4.0, we present a full set of pillar technologies on which Industry 4.0 project portfolio management rests as well as the foundation technologies that support these pillars. A complete model of an Industry 4.0 factory which relies on these pillar technologies is presented. The full set of pillars encompasses cyberphysical systems and Internet of Things (IoT), artificial intelligence (AI), machine learning (ML) and big data, robots and drones, cloud computing, 5G and 6G networks, 3D printing, virtual and augmented reality, and blockchain technology. These technologie...
Electronics
The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors ... more The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensors must be taken into account during the control process. This paper proposes a nonlinear observer that controls FJRM, without requiring equipment sensors for measuring the states. The nonlinear state equations are derived in detail for the FJRM where nonlinearity, of order three, is considered. The Takagi–Sugeno Fuzzy Model (T-SFM) technique is applied to linearize the FJRM system. The Luenberger observer is designed to estimate the unmeasured states using error correction. The developed Luenberger observer showed its ability to control the FJRM by utilizing only the measured signal of the velocity of the motor. Stability analysis is implemented to improve the ability of the designed observer to stabilize the FJRM system. The developed o...
Optimal control of compliant planar robot for safe impact using steepest descent technique
Proceedings of the International Conference on Information and Communication Technology - ICICT '19, 2019
This study introduces a detailed mathematical modeling of a suggested compliant three-link planar... more This study introduces a detailed mathematical modeling of a suggested compliant three-link planar robot. The modeling method is based on state-space representation, which allows a standard access to the interconnection of links with Variable Stiffness Actuator (VSA) by means of first-order differential equations. In these differential equations, the expression of the stiffness is derived in the time domain. In addition, the stiffness of VSA as control input exists in a dependent manner with state variables. An iterative numerical method is proposed, in which, the optimal trajectory of VSA is generated using steepest descent method. Besides this, the optimal feedback controller is designed to minimize the velocities of joints to avoid unsafe contact with the environment. Thus, the performance function was to minimize the velocities of joints and stiffness of VSA. The stabilization of joint velocities is achieved within the optimal feedback control system. A computer program is written to test the model and the proposed control method.
Emerging Trends in Mechatronics, 2020
Dynamic and robust control of fingertip grasping is essential in robotic hand manipulation. This ... more Dynamic and robust control of fingertip grasping is essential in robotic hand manipulation. This study introduces detailed kinematic and dynamic mathematical modeling of a two-fingered robotic hand, which can easily be extended to a multifingered robotic hand and its control. The Lagrangian technique is applied as a common procedure to obtain the complete nonlinear dynamic model. Fingertip grasping is considered in developing the detailed model. The computed torque controller of six proportional derivative (PD) controllers, which use the rotation angle of the joint variables, is proposed to linearize the hand model and to establish trajectory tracking. An impedance controller of optimized gains is suggested in the control loop to regulate the impedance of the robotic hand during the interaction with the grasped object in order to provide safe grasping. In this impedance controller, the gains are designed by applying a genetic algorithm to reach minimum contact position and velocity errors. The robustness against disturbances is achieved within the overall control loop. A computer program using MATLAB is used to simulate, monitor, and test the interactional model and the designed controllers.
Tilting-rotors Quadcopters: A New Dynamics Modelling and Simulation based on the Newton-Euler Method with Lead Compensator Control
The recently developed Tilting Rotors Quadcopters (TRQs) embedded system has gained wide applicat... more The recently developed Tilting Rotors Quadcopters (TRQs) embedded system has gained wide application because of its feature to track a particular trajectory with fix tilting. Attaining precise TRQ dynamic models, particularly by bearing in mind dynamics of motors, is vital for designing controllers. In this study, a TRQ platform is modeled on the basis of the Newton-Euler technique while taking into account motor dynamics. The motor speed is controlled as a closed loop system by applying a lead compensator. Mathematical models have been developed and simulated for the inertial sensors and the battery. The TRQ system was simulated using Matlab and tested with different conditions. The proposed model supports estimations of voltage drop under different environmental conditions. Initial sensors noise is also included in the proposed model.
A Technical Framework for Selection of Autonomous UAV Navigation Technologies and Sensors
Computers, Materials & Continua, 2021
Energy management and storage systems on electric vehicles: A comprehensive review
Materials Today: Proceedings, 2021
Mechanical Sciences, 2018
This work presents a detailed design of a three-jointed tendon-driven robot finger with a cam/pul... more This work presents a detailed design of a three-jointed tendon-driven robot finger with a cam/pulleys transmission and joint Variable Stiffness Actuator (VSA). The finger motion configuration is obtained by deriving the cam/pulleys transmission profile as a mathematical solution that is then implemented to achieve contact force isotropy on the phalanges. A VSA is proposed, in which three VSAs are designed to act as a muscle in joint space to provide firm grasping. As a mechatronic approach, a suitable type and number of force sensors and actuators are designed to sense the touch, actuate the finger, and tune the VSAs. The torque of the VSAs is controlled utilizing a designed Multi Input Multi Output (MIMO) fuzzy controller. The fuzzy controller input is the force sensors' signals that are used to set the appropriate VSA torque. The fuzzy controller parameters are then tuned using a genetic algorithm as an optimization technique. The objective function of the genetic algorithm is to avoid unbalance torque in the individual joints and to reduce the difference between the values of the supplied VSAs torques. Finally, the operation of the aforementioned finger system is organized through a simple control algorithm. The function of this algorithm is to enable the detection of the unknown object and simultaneously automatically activate the optimized fuzzy controller thus eliminating the necessity of any external control unit.
Electronics, 2021
Aerial Robot Arms (ARAs) enable aerial drones to interact and influence objects in various enviro... more Aerial Robot Arms (ARAs) enable aerial drones to interact and influence objects in various environments. Traditional ARA controllers need the availability of a high-precision model to avoid high control chattering. Furthermore, in practical applications of aerial object manipulation, the payloads that ARAs can handle vary, depending on the nature of the task. The high uncertainties due to modeling errors and an unknown payload are inversely proportional to the stability of ARAs. To address the issue of stability, a new adaptive robust controller, based on the Radial Basis Function (RBF) neural network, is proposed. A three-tier approach is also followed. Firstly, a detailed new model for the ARA is derived using the Lagrange–d’Alembert principle. Secondly, an adaptive robust controller, based on a sliding mode, is designed to manipulate the problem of uncertainties, including modeling errors. Last, a higher stability controller, based on the RBF neural network, is implemented with t...
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Papers by izzat Al-Darraji