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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Abdulla, Abdulla Ibrahim
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Nonlinear Model Predictive Control-based Collision Avoidance for Mobile Robot Ismael, Omar Y.; Almaged, Mohammed; Abdulla, Abdulla Ibrahim
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20615

Abstract

This work proposes an efficient and safe single-layer Nonlinear Model Predictive Control (NMPC) system based on LiDAR to solve the problem of autonomous navigation in cluttered environments with previously unidentified static and dynamic obstacles of any shape. Initially, LiDAR sensor data is collected. Then, the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm, is used to cluster the (Lidar) points that belong to each obstacle together. Moreover, a Minimum Euclidean Distance (MED) between the robot and each obstacle with the aid of a safety margin is utilized to implement safety-critical obstacle avoidance rather than existing methods in the literature that depend on enclosing the obstacles with a circle or minimum bounding ellipse. After that, to impose avoidance constraints with feasibility guarantees and without compromising stability, an NMPC for set-point stabilization is taken into consideration with a design strategy based on terminal inequality and equality constraints. Consequently, numerous obstacles can be avoided at the same time efficiently and rapidly through unstructured environments with narrow corridors.  Finally, a case study with an omnidirectional wheeled mobile robot (OWMR) is presented to assess the proposed NMPC formulation for set-point stabilization. Furthermore, the efficacy of the proposed system is tested by experiments in simulated scenarios using a robot simulator named CoppeliaSim in combination with MATLAB which utilizes the CasADi Toolbox, and Statistics and Machine Learning Toolbox. Two simulation scenarios are considered to show the performance of the proposed framework. The first scenario considers only static obstacles while the second scenario is more challenging and contains static and dynamic obstacles. In both scenarios, the OWMR successfully reached the target pose (1.5m, 1.5m, 0°) with a small deviation. Four performance indices are utilized to evaluate the set-point stabilization performance of the proposed control framework including the steady-state error in the posture vector which is less than 0.02 meters for position and 0.012 for orientation, and the integral of norm squared actual control inputs which is 19.96 and 21.74 for the first and second scenarios respectively. The proposed control framework shows a positive performance in a narrow-cluttered environment with unknown obstacles.
NMPC Based-Trajectory Tracking and Obstacle Avoidance for Mobile Robots Qasim, Mohammed Salim; Ayoub, Abdurahman Basil; Abdulla, Abdulla Ibrahim
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1605

Abstract

This paper presents the design of a Nonlinear Model Predictive Controller (NMPC) for a wheeled Omnidirectional Mobile Robot (OMR) in order to track a desired trajectory in the presence of previously unknown static and dynamic obstacles in the environment around the robot. A laser rangefinder sensor is used to detect the obstacles where each obstacle occupies numerous points of every sensor reading. The points that belong to each obstacle are then clustered together using the Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithm. This research introduces a novel approach to represent obstacles as multiple rotated ellipses, enabling a more accurate representation of complex obstacle shapes without overestimating their boundaries, thereby allowing the robot to navigate through narrow passages. CoppeliaSim robotic simulator is utilized to create the virtual simulation environment as well as simulate the OMR dynamics. MATLAB with the help of the CasADi toolbox is used for the process of the laser rangefinder readings and the implementation of NMPC, respectively.  To validate the effectiveness and robustness of the proposed approach, three simulation scenarios are conducted, each involving distinct trajectories and varying densities of static and/or dynamic obstacles. The proposed control architecture exhibits remarkable performance, enabling the OMR to effectively navigate through narrow passages and avoid multiple static and dynamic obstacles while closely adhering to the desired trajectory.
Design of a Robust Component-wise Sliding Mode Controller for a Two-Link Manipulator Qasim, Mohammed; Abdulla, Abdulla Ibrahim; Ayoub, Abdurahman Basil
Journal of Robotics and Control (JRC) Vol. 6 No. 2 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i2.25632

Abstract

Compared to conventional Multiple-Input Multiple-Output (MIMO) Sliding Mode Control (SMC) techniques, the component-wise SMC approach offers several advantages, including improved decoupling of system dynamics, enhanced robustness, and greater flexibility in controller design. This paper proposes a novel trajectory tracking controller for a two-link manipulator based on the component-wise sliding mode control approach. The design methodology involves determining controller gains by solving a set of inequalities. This analysis results in conditions on the system parameter uncertainties that guarantee the existence of a feasible solution to the set of inequalities. Furthermore, an algorithm is presented to determine the maximum allowable uncertainties that ensure the feasibility of the controller gains. To evaluate the performance and robustness of the proposed tracking controller, the manipulator is subjected to a series of challenging trajectories, including circular and figure-8 ones, under both nominal and maximum allowable uncertainty conditions. The proposed controller demonstrates superior performance across both circular and figure-8 trajectories, exhibiting excellent transient response and minimal steady-state error even under the maximum permissible uncertainties, which extend up to 27% in link masses. This performance is validated through a quantitative analysis that incorporates a comparative evaluation against two conventional MIMO SMC techniques. The comparison is conducted using the Integral Norm of Error (INE) to assess tracking accuracy and the Integral Norm of Control Action (INU) to evaluate the energy efficiency of the controllers. These metrics provide a comprehensive basis for analyzing both the precision and the energy consumption of the proposed control strategy in relation to established methods.
Boost Converter Control Using Proportional-Integral-Derivative Controller Optimized by Whale Optimization Algorithm Thanoon, Mohammad A; Almaged, Mohammed; Abdulla, Abdulla Ibrahim
International Journal of Robotics and Control Systems Vol 5, No 3 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i3.1912

Abstract

This work offers an improved control approach for a boost converter called WOA_PID by combining a Whale Optimization Algorithm (WOA) with a Proportional-Integral-Derivative (PID) controller. The main goal is to optimize the PID controller gains for better voltage control and improved system stability and performance. Although boost converters are employed for step-up DC-DC conversion, they have nonlinear dynamics and sudden load changes that create major problems in conventional controller tuning. This work guarantees improved transient response and lower steady-state error by using the WOA employed as an optimization tool to effectively optimize the PID gains by minimizing the Integral Square Error (ISE) performance index. Simulations are used to assess the suggested WOA_PID controller, which showed better performance than traditional PID tuning techniques. The key aspects are zero overshoot, quicker rise and settling time of 0.216 and 0.654 respectively as well as improved output voltage control under changing load situations. Findings verify the efficiency of the WOA-based tuning approach in optimizing the PID controller for boost converters, providing a robust solution for practical applications in power electronics.
Co-Authors Almaged, Mohammed Ayoub, Abdurahman Basil Ismael, Omar Y. Qasim, Mohammed Qasim, Mohammed Salim Thanoon, Mohammad A