Department of Electrical Engineering Research Groups

The Engineering Cybernetics Research Group (ECRG)offers a platform for conducting research in the field of cybernetics focused on its applications in control engineering and robotics. The group, headed by Dr. Omer Saleem, is involved in undertaking research and senior-year project work in developing robust-optimal and self-adaptive control procedures for under-actuated mechatronic systems, robots, and energy-conversion systems. The designed control systems are rigorously tested and validated by using experimental platforms; such as, mobile robots, self-balancing robots, ball-on-a-beam system, ball-on-a-plate balancing system, rotary-inverted pendulum, DC motor setup, DC-DC converters, aero-pendulums, CNC manufacturing machines, and robotic manipulators etc. The group also works in the domain of intelligent control system design and its application in robotics, bio-mechatronics, and wireless sensor/actuator networks. The research team consists of FYP, MS and PhD Thesis students, along with faculty members.

Members

• Dr. Omer Saleem
• Ahmad Hamza
  
• Aliha Tanveer
  
• Daniyal Ahmad
  

Students (with significant contributions)

• Abdul Hanan
• Ahmed Saleem
• Agha Ali

Projects

• Fully Automated Central Lathe Machine

• 2 DoF Ball-on-Plate Balancing Control System

• Feedback Control of ZVS Induction Heating Machine

• Stabilization & Steering Control of a Self-balancing Bicycle

• Autonomous Lawn Mower (Ignite Funded)

• Anti-Dozing Device for Drivers (Cliented by: NHMP, Pakistan)

• Retrofitting Level-3 Autonomy to Older Cars

• Smart Self-Adaptive Portable Ventilator Machine

• IoT-based Hospital Bed Occupancy Management System

• SLAM-based Autonomous Robot for Industrial Workspaces

• COVID-19 SOPs Monitoring & Management System using AI-managed Embedded Computer Vision

• Nonlinear-Type Hierarchical Self-Adaptive State-Feedback Control Strategies for Under-actuated Mechatronic Systems

Theses

• Optimization of Output-Voltage Regulation Capability of Boost Converter using Closed-Loop Feedback Control Scheme (2019)

• Development of a Ball-on-a-Beam Balancing Control System (2021)

• Control Optimization of Photovoltaic DC-DC Buck-Boost Converter via weighted Combination of linear Controllers (2022)

• Enhanced Regulation Control of interleaved Boost Converter for Wind Energy Systems (2022)
  

Publications

• Omer Saleem, Mohsin Rizwan, Khalid Mahmood-ul-Hasan, Muaaz Ahmad, Performance Enhancement of Multivariable Model-Reference Optimal Adaptive Motor Speed Controller using Error-Dependent Hyperbolic Gain Functions, Automatika, 61(01), pp. 117-131, 2020. DOI:10.1080/00051144.2019.16.

• Omer Saleem, Khalid Mahmood-Ul-Hasan, Indirect Adaptive State-Feedback Control of Rotary Inverted Pendulum Using Self-Mutating Hyperbolic-Functions for Online Cost Variation, IEEE ACCESS, 08(01), pp. 91236 - 91247, 2020. DOI: 10.1109/ACCESS.2020.2994830.

• Omer Saleem, Mohsin Rizwan, ILC-Adapted parameter optimization of cross-coupled single-input fuzzy tracking controllers for an X-Y positioning table, Journal of the Chinese Institute of Engineers, 43 (06), pp. 519-531, 2020. DOI: 10.1080/02533839.2020.1771209.

• Omer Saleem, Fahim Gohar Awan, Khalid Mehmood-ul-Hasan, Muaaz Ahmad, Self-adaptive Fractional-order LQ-PID Voltage Controller for Robust Disturbance Compensation in DC-DC Buck Converters, International Journal of Numerical Modelling: Electronic Networks, Devices and Fields, 33 (04), pp. 1-18, 2020. DOI: 10.1002/jnm.2718.

• Omer Saleem, Mohsin Rizwan, Agha Ali Zeb, Abdul Hanan Ali, Muhammad Ahmad Saleem, Online Adaptive PID Tracking Control of an Aero-Pendulum using PSO-Scaled Fuzzy Gain Adjustment Mechanism, Soft Computing, 24(14), pp. 10629–10643, 2020. DOI: 10.1007/s00500-019-04568-1.

• Sheroze Liaquat, Muhammad Salman Fakhar, Syed Abdul Rehman Kashif, Akhtar Rasool, Omer Saleem, Sanjeevikumar Padmanaban, "Performance Analysis of APSO and Firefly Algorithm for Short Term Optimal Scheduling of Multi-Generation Hybrid Energy System," IEEE ACCESS, 08(01), pp. 177549 - 177569, 2020. DOI: 10.1109/ACCESS.2020.3027436.

• Omer Saleem, Khalid Mahmood-ul-Hasan, Mohsin Rizwan, “Self-Tuning State-Feedback Control of Rotary Pendulum via Online Adaptive Reconfiguration of Control Penalty-Factor,” Journal of Control Engineering and Applied Informatics, vol. 22, no. 04, pp. 23-33, Dec. 2020.

• Omer Saleem, Mohsin Rizwan, Khalid Mahmood-ul-Hasan, “Self-tuning State-Feedback Control of a Rotary Pendulum System using Adjustable Degree-of-Stability Design,” Automatika, vol. 62, no. 01, pp. 84-97, Jan. 2021. DOI: 10.1080/00051144.2020.1864186.

• Omer Saleem, Khalid Mahmood-ul-Hasan, “Adaptive State-space Control of Under-actuated Systems Using Error-magnitude Dependent Self-tuning of Cost Weighting-factors,” International Journal of Control, Automation and Systems, vol. 19, no. 02, 931 - 941, March 2021. DOI: 10.1007/s12555-020-0209-z.

• Omer Saleem, Khalid Mahmood-ul-Hasan, “Hierarchical Adaptive Control of Self-Stabilizing Electromechanical Systems using Artificial-Immune Self-Tuning Mechanism for State Weighting-Factor,” Journal of Mechanical Science and Technology, vol. 35, no. 03, pp. 1-15, Mar. 2021. DOI: 10.1007/s12206-021-0237-5

• Sheroze Liaquat, Muhammad Salman Fakhar, Syed Abdul Rahman Kashif, Akhtar Rasool, Omer Saleem, Muhammad Zia, Sanjeevikumar Padmanaban, “Application of Dynamically Search Space Squeezed Modified Firefly Algorithm to a Novel Short Term Economic Dispatch of Multi-Generation Systems,” IEEE ACCESS, vol. 9, no. 01, pp. 1918 – 1939, 2021. DOI: 10.1109/ACCESS.2020.3046910.

• Omer Saleem, Khalid Mahmood-ul-Hasan, Mohsin Rizwan, “An Experimental Comparison of Different Hierarchical Self-Tuning Regulatory Control Procedures for Under-Actuated Mechatronic Systems,” PLOS ONE, vol 16, no. 08, Aug. 2021, e0256750; DOI: 10.1371/journal.pone.0256.

• Omer Saleem, Faheem Gohar Awan, Samia Mahmood, Shehroze Liaquat, Hamza Yousuf, “Self-Adaptive Stabilization Control of a Rotary Pendulum using Nonlinearly-Scaled Model-Reference Gain-Adaptation Law,” Journal of Control Engineering and Applied Informatics, vol. 23, no. 03, pp. 62 - 75, Sep. 2021.

• F. Naz, Z. Wajid, A.A. Amin, O. Saleem, M.H. Shahbaz, M.G. Khan, M. Adnan. "PID Tuning with Reference Tracking and Plant Uncertainty along with Disturbance Rejection," Systems Science & Control Engineering, vol. 9 , no. 01, pp. 160 - 166, 2021.

• Omer Saleem, Mohsin Rizwan, Fahim Gohar Awan, “Robustification of the State-Space MRAC Law for Under-Actuated Systems via Fuzzy-Immunological Computations,” Science Progress, vol. 105, no. 03, pp. 1-26, Sep. 2022. DOI: 10.1177/0036850422112229

• Shehroze Liaquat, Muhammad Fahad Zia, Omer Saleem, Zeeshan Asif, Muhammad Benbouzid, “Performance Analysis of Distance Metrics on the Exploitation Properties and Convergence Behaviour of the Conventional Firefly Algorithm,” Applied Soft Computing, vol. 126, 109255, Sep. 2022. DOI: 10.1016/j.asoc.2022.1092

• Omer Saleem, Faisal Abbas, Jamshed Iqbal, “Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation,” Mathematics, vol. 11, no. 4, 913, Jan. 2023. DOI: 10.3390/math11040913.

• Omer Saleem, Jamshed Iqbal, Shahzad Afzal “A Robust Variable-Structure LQI Controller for Under-actuated Systems via Flexible Online Adaptation of Performance-index Weights,” PLOS ONE, vol. 18, no. 3, e0283079, 2023. DOI: 10.1371/journal.pone.0283079.

• Omer Saleem, “An enhanced adaptive-LQR procedure for under-actuated systems using relative-rate feedback to dynamically reconfigure the state-weighting-factors,” Journal of Vibration and Control, vol. 29, no. 9-10, pp. 2316-2331, 2023. DOI: 10.1177/10775463221078654.

• Omer Saleem, Jamshed Iqbal, “Fuzzy-Immune-Regulated Adaptive Degree-of-Stability LQR for a Self-Balancing Robotic Mechanism: Design and HIL Realization,” IEEE Robotics and Automation Letters, vol. 8, no. 8, pp. 4577-4584, 2023. DOI: 10.1109/LRA.2023.32861.

• Omer Saleem, Shehryaar Ali, Jamshed Iqbal, “Robust MPPT Control of Stand-Alone Photovoltaic Systems via Adaptive Self-Adjusting Fractional Order PID Controller,” Energies, vol. 16, no. 13, 5039, DOI: 10.3390/en16135039.

• Omer Saleem, Jamshed Iqbal, “Complex-Order PID Controller Design for Enhanced Blood-Glucose Regulation in Type-I Diabetes Patients,” Measurement and Control, vol. 56, no. 9-10, pp. 1811-1825, 2023. DOI: 10.1177/002029402311895.

• Omer Saleem, Mohsin Rizwan, Jamshed Iqbal, “Adaptive optimal control of under-actuated robotic systems using a self-regulating nonlinear weight-adjustment scheme: Formulation and experimental verification,” PLOS one, vol. 18, no. 12, e0295153, 2023. DOI: 10.1371/journal.pone.0295153.

• Omer Saleem, Turki Alsuwian, Arslan Ahmed Amin, Shehryaar Ali, Zuhair A. Alqarni, “Stabilization Control of Rotary Inverted Pendulum using a Novel EKF-based Fuzzy Adaptive Sliding-Mode Controller: Design and Experimental Validation,” Automatika, vol. 65, no. 02, 538 - 558, 2024. DOI: 10.1080/00051144.2024.2312309.

• Omer Saleem, Khalid Rasheed Ahmad, Jamshed Iqbal, “Fuzzy-Augmented Model Reference Adaptive PID Control Law Design for Robust Voltage Regulation in DC–DC Buck Converters,” Mathematics, vol. 12, no. 12, 1893, 2024. DOI: 10.3390/math12121893.

• Omer Saleem, Jamshed Iqbal, “Phase-Based Adaptive Fractional LQR for Inverted-Pendulum-Type Robots: Formulation and Verification,” IEEE Access, vol. 12, 93185-93196, 2024. DOI: 10.1109/ACCESS.2024.3415494.

• Faisal Abbas, Omer Saleem, Lijuan Wang, Yong Yan, “A self-adaptive fractional order PID controller for the particle velocity regulation in a pneumatic conveying system,” Transactions of the Institute of Measurement and Control. 2024 Aug 6. DOI: 10.1177/01423312241277592.

• Omer Saleem, Ahmad Hamza, Jamshed Iqbal, J. “A Fuzzy-Immune-Regulated Single-Neuron Proportional–Integral–Derivative Control System for Robust Trajectory Tracking in a Lawn-Mowing Robot,” Computers, vol. 13, no. 11, 301, 2024. DOI: 10.3390/computers13110301.

• Omer Saleem, Jamshed Iqbal, “Blood-glucose regulator design for diabetics based on LQIR-driven Sliding-Mode-Controller with self-adaptive reaching law,” PloS One, vol. 19, no. 11, e0314479, 2024. DOI: 10.1371/journal.pone.0314479

• Omer Saleem, Muhammad Kazim, Jamshed Iqbal, “Robust Position Control of VTOL UAVs Using a Linear Quadratic Rate-Varying Integral Tracker: Design and Validation,” Drones, vol. 9, no. 1, 73. DOI: 10.3390/drones9010073