Blar i NTNU Open på forfatter "Azar, Ahmad Taher"
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Adaptive Internal Model Control Based on Parameter Adaptation
Chen, Peng; Zhang, Yunfeng; Wang, Jianhong; Azar, Ahmad Taher; Hameed, Ibrahim A.; Ibraheem, Ibraheem Kasim; Kamal, Nashwa Ahmad; Abdulmajeed, Farah Ayad (Peer reviewed; Journal article, 2022)In actual industrial control, many objects have the characteristics of large lag and time-varying parameters, which makes it difficult for traditional PID control to obtain satisfactory control effects. Therefore, engineers ... -
AI and Robotics in the Fight Against COVID-19 Pandemic
Khamis, Alaa; Meng, Jung; Wang, Jin; Azar, Ahmad Taher; Prestes, Edson; Li, Howard; Hameed, Ibrahim A.; Haidegger, Tamás (Chapter, 2022)The outbreak of the novel coronavirus and its disease COVID-19 present an unprecedented challenge for humanity. Artificial Intelligence (AI) and robotics may help fighting COVID-19. Potential applications of AI in this ... -
Bifurcation Analysis, Synchronization and FPGA Implementation of a New 3-D Jerk System with a Stable Equilibrium
Vaidyanathan, Sundarapandian; Azar, Ahmad Taher; Hameed, Ibrahim A.; Benkouider, Khaled; Tlelo-Cuautle, Esteban; Ovilla-Martinez, Brisbane; Lien, Chang-Hua; Sambas, Aceng (Peer reviewed; Journal article, 2023)This research paper addresses the modelling of a new 3-D chaotic jerk system with a stable equilibrium. Such chaotic systems are known to exhibit hidden attractors. After the modelling of the new jerk system, a detailed ... -
Design and Stability Analysis of Sliding Mode Controller for Non-Holonomic Differential Drive Mobile Robots
Azar, Ahmad Taher; Abed, Azher M.; Abdul-Majeed, Farah Ayad; Hameed, Ibrahim A.; Jawad, Anwar Ja’afar Mohamad; Abdul-Adheem, Wameedh Riyadh; Ibraheem, Ibraheem Kasim; Kamal, Nashwa Ahmad (Peer reviewed; Journal article, 2023)This paper presents a novel extended state observer (ESO) approach for a class of plants with nonlinear dynamics. The proposed observer estimates both the state variables and the total disturbance, which includes both ... -
Drone deep reinforcement learning: A review
Azar, Ahmad Taher; Koubaa, Anis; Ali Mohamed, Nada; Ibrahim, Habiba A.; Ibrahim, Zahra Fathy; Kazim, Muhammad; Ammar, Adel; Benjdira, Bilel; Khamis, Alaa M.; Hameed, Ibrahim A.; Casalino, Gabriella (Peer reviewed; Journal article, 2021)Unmanned Aerial Vehicles (UAVs) are increasingly being used in many challenging and diversified applications. These applications belong to the civilian and the military fields. To name a few; infrastructure inspection, ... -
FPGA in the loop implementation of the PUMA 560 robot based on backstepping control
Fekik, Arezki; Khati, Hocine; Azar, Ahmad Taher; Hamida, Mohamed Lamine; Denoun, Hakim; Hameed, Ibrahim A.; Kamal, Nashwa Ahmad (Journal article; Peer reviewed, 2023)The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in-the-loop option, and to study its effectiveness ... -
Interval Observers for Discrete-Time Linear Systems with Uncertainties
Sergiyenko, Oleg; Zhirabok, Alexey; Ibraheem, Ibraheem Kasim; Zuev, Alexander; Filaretov, Vladimir; Azar, Ahmad Taher; Hameed, Ibrahim A. (Peer reviewed; Journal article, 2022)In this paper, we consider the problem involved when designing the interval observer for the system described by a linear discrete-time model under external disturbances and measurement noises. To solve this problem, we ... -
Load Frequency Control and Automatic Voltage Regulation in a Multi-Area Interconnected Power System Using Nature-Inspired Computation-Based Control Methodology
Ali, Tayyab; Malik, Suheel Abdullah; Hameed, Ibrahim A.; Daraz, Amil; Mujlid, Hana; Azar, Ahmad Taher (Peer reviewed; Journal article, 2022)The stability control of nominal frequency and terminal voltage in an interconnected power system (IPS) is always a challenging task for researchers. The load variation or any disturbance affects the active and reactive ... -
A Machine Learning and Blockchain Based Efficient Fraud Detection Mechanism
Ashfaq, Tehreem; Khalid, Rabiya; Yahaya, Adamu Sani; Aslam, Sheraz; Azar, Ahmad Taher; Alsafari, Safa; Hameed, Ibrahim A. (Peer reviewed; Journal article, 2022)In this paper, we address the problems of fraud and anomalies in the Bitcoin network. These are common problems in e-banking and online transactions. However, as the financial sector evolves, so do the methods for fraud ... -
Neural Fractional Order PID Controllers Design for 2-Link Rigid Robot Manipulator
Mohamed, Mohamed Jasim; Oleiwi, Bashra Kadhim; Abood, Layla H.; Azar, Ahmad Taher; Hameed, Ibrahim A. (Peer reviewed; Journal article, 2023)The robotic manipulator is considered one of the complex systems that include multi-input, multi-output, non-linearity, and highly coupled. The uncertainty in the parameters and external disturbances have a negative influence ... -
A New Approach to Nonlinear State Observation for Affine Control Dynamical Systems
Azar, Ahmad Taher; Smait, Drai Ahmed; Muhsen, Sami; Jassim, Moayad Abdullah; AL-Salih, Asaad Abdul Malik Madhloom; Hameed, Ibrahim A.; Jawad, Anwar Ja’afar Mohamad; Abdul-Adheem, Wameedh Riyadh; Cocquempot, Vincent; Sahib, Mouayad A.; Kamal, Nashwa Ahmad; Ibraheem, Ibraheem Kasim (Journal article; Peer reviewed, 2023) -
A New Nonlinear Controller for the Maximum Power Point Tracking of Photovoltaic Systems in Micro Grid Applications Based on Modified Anti-Disturbance Compensation
Azar, Ahmad Taher; Abed, Azher M.; Abdulmajeed, Farah Ayad; Hameed, Ibrahim A.; Kamal, Nashwa Ahmad; Jawad, Anwar Jaafar Mohamad; Abbas, Ali Hashim; Rashed, Zainab Abdulateef; Hashim, Zahraa Sabah; Sahib, Mouayad A.; Ibraheem, Ibraheem Kasim; Thabit, Rasha (Peer reviewed; Journal article, 2022)In the photovoltaic system, the performance, efficiency, and generated power of the PV system are affected by changes in the environment, disturbances, and parameter variations, and this leads to a deviation from the ... -
A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot
Hameed, Ibrahim A.; Abbud, Luay Hashem; Abdulsaheb, Jaafar Ahmed; Azar, Ahmad Taher; Mezher, Mohanad; Jawad, Anwar Ja’afar Mohamad; Abdul-Adheem, Wameedh Riyadh; Ibraheem, Ibraheem Kasim; Kamal, Nashwa Ahmad (Peer reviewed; Journal article, 2023)A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The ... -
Parameterization of a Novel Nonlinear Estimator for Uncertain SISO Systems with Noise Scenario
Azar, Ahmad Taher; Abdul-Majeed, Farah Ayad; Majdi, Hasan Sh.; Hameed, Ibrahim A.; Kamal, Nashwa Ahmad; Jawad, Anwar Jaafar Mohamad; Abbas, Ali Hashim; Abdul-Adheem, Wameedh Riyadh; Ibraheem, Ibraheem Kasim (Peer reviewed; Journal article, 2022)Dynamic observers are commonly used in feedback loops to estimate the system’s states from available control inputs and measured outputs. The presence of measurement noise degrades the performance of the observer and ... -
Robust H-Infinity Decentralized Control for Industrial Cooperative Robots.
Azar, Ahmad Taher; Serrano, Fernando E.; Hameed, Ibrahim A.; Kamal, Nashwa Ahmad; Vaidyanathan, Sundarapandian (Chapter, 2019)In this paper, a robust H-infinity controller is proposed for industrial cooperative robots in which disturbances are taken into account for an appropriate controller design. Considering the disturbance affects the system ... -
Virtual Sensors for Nonlinear Discrete-Time Dynamic Systems
Sergiyenko, Oleg; Zhirabok, Alexey; Hameed, Ibrahim A.; Azar, Ahmad Taher; Zuev, Alexander; Filaretov, Vladimir; Tyrsa, Vera; Ibraheem, Ibraheem Kasim (Peer reviewed; Journal article, 2023)The problem of virtual sensor design for nonlinear systems under the disturbance is investigated. Two different mathematical techniques are used to solve the problem: the algebra of functions and the logic-dynamic approach. ...