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Naveed Mazhar - IEEE Xplore Author Profile
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Naveed Mazhar

Publications
18
Citations
93
Publications by Year
20182024
Co-Authors:
Show All Co-Authors (27)
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Naveed Mazhar

Affiliation

Unmanned Vehicles Research Lab
DEE
CEME, National University of Sciences & Technology, Islamabad, Pakistan

Publication Topics

Biography

Naveed Mazhar received the B.S. degree in electronics engineering from COMSATS, Abbottabad, Pakistan, in 2013, and the M.S. degree in electrical engineering from the National University of Science and Technology, Islamabad, Pakistan, in 2016, where he is currently pursuing the Ph.D. degree. His research interests include multi-agent systems, modeling, networked control systems, fixed-time control, and linear and nonlinear control design.(Based on document published on 30 March 2022).
Publications
18
Citations
93
Publications by Year
20182024
Co-Authors:
Show All Co-Authors (27)
Author's Published Works

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Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidirectional Aerial Manipulator

Hameed Ullah;Santos Miguel Orozco Soto;Naveed Mazhar;Irfan Ahmad;Vincenzo Lippiello;Fabio Ruggiero

2024 International Conference on Robotics and Automation in Industry (ICRAI)
Year: 2024 | Conference Paper |
This paper presents the pushing and rotation of a heavy rigid body using an omnidirectional actively tilted aerial manipulator, controlled via a hybrid force/position controller. Unlike conventional unmanned aerial vehicles, the proposed system enables precise horizontal force application, making it ideal for aerial physical interaction tasks. The hybrid controller is implemented in the Robot Oper...Show More

Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidirectional Aerial Manipulator

Hameed Ullah;Santos Miguel Orozco Soto;Naveed Mazhar;Irfan Ahmad;Vincenzo Lippiello;Fabio Ruggiero

Year: 2024 | Conference Paper |

High-Gain Observer Design for Nonlinear Two-Time-Scale Systems

Abid Raza;Fahad Mumtaz Malik;Naveed Mazhar;Rameez Khan;Arslan Khan;Hameed Ullah

2023 20th International Bhurban Conference on Applied Sciences and Technology (IBCAST)
Year: 2023 | Conference Paper |
In robotics, aerospace, and electromechanical applications, it is common practice to break the dynamics into two timescales for analysis and control design. In modern applications, the observer-based control design has gained much attention to enhance the reliability of closed-loop control. In this article, we have proposed high-gain observer-based output feedback control (OFC) for a class of nonl...Show More

High-Gain Observer Design for Nonlinear Two-Time-Scale Systems

Abid Raza;Fahad Mumtaz Malik;Naveed Mazhar;Rameez Khan;Arslan Khan;Hameed Ullah

Year: 2023 | Conference Paper |

Visual-Inertial State-Estimation Using Ground Station for UAV

Arslan Khan;Hameed Ullah;Usama Faisal;Naveed Mazhar;Muhammad Yusuf Khan

2023 4th International Conference on Computing, Mathematics and Engineering Technologies (iCoMET)
Year: 2023 | Conference Paper |
This paper presents the controller design and visual-inertial state estimation using IMU and camera for the quadrotor's flight. To accomplish this, first, the mathematical modeling of the quadrotor is presented based on Newtonian mechanics. Then a controller is designed that ensures the autonomous flight of the quadrotor. To achieve a high-level practical autonomy, state estimation is the first st...Show More

Visual-Inertial State-Estimation Using Ground Station for UAV

Arslan Khan;Hameed Ullah;Usama Faisal;Naveed Mazhar;Muhammad Yusuf Khan

Year: 2023 | Conference Paper |

Fixed Settling Time Longitudinal Control of Self-Driving Car

Rameez Khan;Naveed Mazhar;Abid Raza;Anjum Saeed;Fahad Mumtaz Malik;Raja Amer Azim

2022 4th International Conference on Applied Automation and Industrial Diagnostics (ICAAID)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
This article presents the robust control framework for the longitudinal motion of the self-driving car in an uncertain environment. As a theoretical contribution, a fixed settling time sliding mode controller (FSTSMC) is proposed using barrier Lyapunov functions for a class of second-order nonlinear systems which avoids the singularity problem of fixed traditional fixed time controllers. The propo...Show More

Fixed Settling Time Longitudinal Control of Self-Driving Car

Rameez Khan;Naveed Mazhar;Abid Raza;Anjum Saeed;Fahad Mumtaz Malik;Raja Amer Azim

Year: 2022 | Volume: 1 | Conference Paper |

Fixed Settling Time Control for Self-Driving Car: Two-Timescales Approach

Rameez Khan;Raja Amer Azim;Fahad Mumtaz Malik;Naveed Mazhar;Abid Raza;Hameed Ullah

IEEE Access
Year: 2022 | Volume: 10 | Journal Article |
Cited by: Papers (3)
This article involves the design of a novel path tracking control technique for the self-driving car. Fixed settling time sliding mode control (FSTSMC) with barrier Lyapunov function is implemented to deal with the non-linear lateral dynamics and to ensure stable standard double-lane-change (DLC) maneuver of self-driving cars in the presence of unknown lateral tire forces and parametric uncertaint...Show More

Fixed Settling Time Control for Self-Driving Car: Two-Timescales Approach

Rameez Khan;Raja Amer Azim;Fahad Mumtaz Malik;Naveed Mazhar;Abid Raza;Hameed Ullah

Year: 2022 | Volume: 10 | Journal Article |

Sliding Mode Control of Quadrotor UAV Using Parabolic Sliding Surface

Abdul Rehman;Naveed Mazhar;Abid Raza;Fahad Mumtaz Malik

2021 International Conference on Innovative Computing (ICIC)
Year: 2021 | Conference Paper |
Cited by: Papers (2)
This paper is about the sliding mode control of quadrotor UAV’s using nonlinear parabolic sliding surface. Quadrotor has six degrees of freedom and four actuators. It has the ability to vertically take off and land. It is necessary to have control over six degrees of freedom for proper drive. For many years sliding mode control of quadrotor has been used. There are some disadvantages of sliding mo...Show More

Sliding Mode Control of Quadrotor UAV Using Parabolic Sliding Surface

Abdul Rehman;Naveed Mazhar;Abid Raza;Fahad Mumtaz Malik

Year: 2021 | Conference Paper |

Tracking Control of Flexible Joint Single Link Robotic Manipulator via Extended High-Gain Observer

Hameed Ullah;Fahad Mumtaz Malik;Abid Raza;Irfan Ahmad;Naveed Mazhar;Rameez Khan

2021 International Bhurban Conference on Applied Sciences and Technologies (IBCAST)
Year: 2021 | Conference Paper |
Cited by: Papers (5)
This paper presents the output feedback control (OFC) of flexible joint single link robotic manipulator via extended high gain observer (EHGO). Conventional high gain observer (HGO) is sensitive to noise and external disturbances. Therefore, EHGO is used to reject the effect of noise and external disturbances on the output of the system. A feedback linearizing control (FLC) is used to track the de...Show More

Tracking Control of Flexible Joint Single Link Robotic Manipulator via Extended High-Gain Observer

Hameed Ullah;Fahad Mumtaz Malik;Abid Raza;Irfan Ahmad;Naveed Mazhar;Rameez Khan

Year: 2021 | Conference Paper |

Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function

Rameez Khan;Fahad Mumtaz Malik;Naveed Mazhar;Abid Raza;Raja Amer Azim;Hameed Ullah

IEEE Access
Year: 2021 | Volume: 9 | Journal Article |
Cited by: Papers (16)
This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow ...Show More

Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function

Rameez Khan;Fahad Mumtaz Malik;Naveed Mazhar;Abid Raza;Raja Amer Azim;Hameed Ullah

Year: 2021 | Volume: 9 | Journal Article |

Robust Nonlinear Output Feedback Tracking Control of Single-Link Flexible Joint Robotic Manipulator System

Hameed Ullah;Fahad Mumtaz Malik;Abid Raza;Anjum Saeed;Naveed Mazhar;Rameez Khan

2020 14th International Conference on Open Source Systems and Technologies (ICOSST)
Year: 2020 | Conference Paper |
Cited by: Papers (1)
Single link flexible joint robotic manipulators are highly nonlinear systems is being widely used in many industries which are most of the time suffer from external disturbances and dynamical parametric uncertainties. In this paper, robust nonlinear output feedback tracking control is designed for single-link flexible joint robotic manipulator system. The designed controller is based on the feedba...Show More

Robust Nonlinear Output Feedback Tracking Control of Single-Link Flexible Joint Robotic Manipulator System

Hameed Ullah;Fahad Mumtaz Malik;Abid Raza;Anjum Saeed;Naveed Mazhar;Rameez Khan

Year: 2020 | Conference Paper |

Output Feedback Stabilization of Flexible Joint Single Link Robotic Manipulator Using Extended Order High-Gain Observer

Hameed Ullah;Abid Raza;Fahad Mumtaz Malik;Muhammad Ibrahim;Naveed Mazhar;Rameez Khan

2020 IEEE 23rd International Multitopic Conference (INMIC)
Year: 2020 | Conference Paper |
Cited by: Papers (2)
In this paper, a robust output feedback control (OFC) is designed for the flexible joint single link robotic manipulator. The control design is based on the feedback linearization control technique which is opted owing to its simplicity. The state estimation is carried out using a high-gain observer (HGO). Due to its vulnerability to parametric variations and external disturbances, an extended ord...Show More

Output Feedback Stabilization of Flexible Joint Single Link Robotic Manipulator Using Extended Order High-Gain Observer

Hameed Ullah;Abid Raza;Fahad Mumtaz Malik;Muhammad Ibrahim;Naveed Mazhar;Rameez Khan

Year: 2020 | Conference Paper |

Finite-Time Trajectory Tracking Control of Output-Constrained Uncertain Quadrotor

Abid Raza;Fahad Mumtaz Malik;Naveed Mazhar;Hameed Ullah;Rameez Khan

IEEE Access
Year: 2020 | Volume: 8 | Journal Article |
Cited by: Papers (24)
In this article, a finite-time robust tracking control of output constrained multirotor unmanned aerial vehicle (UAV) is proposed. A finite-time sliding mode control (SMC) technique with barrier Lyapunov function (BLF) is used to assure robustness of the derived control laws while maintaining the output in specified constraints. A comparison of the proposed controller is carried out with conventio...Show More

Finite-Time Trajectory Tracking Control of Output-Constrained Uncertain Quadrotor

Abid Raza;Fahad Mumtaz Malik;Naveed Mazhar;Hameed Ullah;Rameez Khan

Year: 2020 | Volume: 8 | Journal Article |

Robust Decentralized Nonlinear Formation Control of Multiagent Quadrotor

Naveed Mazhar;Fahad Mumtaz Malik;Rameez Khan;Abid Raza;Saeed Mazhar;Muhammad Irfan

2020 7th International Conference on Electrical and Electronics Engineering (ICEEE)
Year: 2020 | Conference Paper |
Cited by: Papers (12)
The robust decentralized formation control for the multiagent quadrotor is investigated in this article. The leaderless formation protocol is proposed for a class of square multi-input multi-output nonlinear multiagent systems with an undirected communication graph. The six degree of freedom underactuated nonlinear model of multiagent quadrotor is considered and altered to a four-input four-output...Show More

Robust Decentralized Nonlinear Formation Control of Multiagent Quadrotor

Naveed Mazhar;Fahad Mumtaz Malik;Rameez Khan;Abid Raza;Saeed Mazhar;Muhammad Irfan

Year: 2020 | Conference Paper |

Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System

Rameez Khan;Fahad Mumtaz Malik;Abid Raza;Naveed Mazhar;Hameed Ullah;Muhammad Umair

2020 3rd International Conference on Computing, Mathematics and Engineering Technologies (iCoMET)
Year: 2020 | Conference Paper |
Cited by: Papers (10)
Robust output tracking of uncertain systems requires nonlinear controllers due to approximate parameters and exogenous disturbances. However, the design of nonlinear control is often more complex for practical implementation. This article presents a simple nonlinear robust control for the ball and beam system based on integral sliding mode control. In addition to this a low pass filter is designed...Show More

Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System

Rameez Khan;Fahad Mumtaz Malik;Abid Raza;Naveed Mazhar;Hameed Ullah;Muhammad Umair

Year: 2020 | Conference Paper |

Model-Based Control of Planar Rigid-Flexible Manipulator

Anjum Saeed;Fahad Mumtaz Malik;Hameed Ullah;Zeeshan Ali Akbar;Naveed Mazhar

2019 IEEE 7th Conference on Systems, Process and Control (ICSPC)
Year: 2019 | Conference Paper |
Cited by: Papers (5)
In this paper, the mathematical modeling and model-based control of the planar rigid-flexible manipulator has been presented. Small deflection has been assumed in flexible link. Modeling is based on frame transformation matrices which describe the rotation of the frames. The Lagrangian approach has been used to derive the ideal dynamic model of the rigid-flexible manipulator, for which kinetic and...Show More

Model-Based Control of Planar Rigid-Flexible Manipulator

Anjum Saeed;Fahad Mumtaz Malik;Hameed Ullah;Zeeshan Ali Akbar;Naveed Mazhar

Year: 2019 | Conference Paper |

Feedback Linearization using High Gain Observer for Nonlinear Electromechanical Actuator

Abid Raza;Fahad Mumtaz Malik;Naveed Mazhar;Rameez Khan;Hameed Ullah

2019 22nd International Multitopic Conference (INMIC)
Year: 2019 | Conference Paper |
Cited by: Papers (8)
Naval applications need refined regulation, to meet modern era standards, which eventually leads to the requirement of more accurate mathematical modeling of all subsystems. All naval autonomous systems are equipped with electromechanical actuators, which are often controlled for linear operating range and nonlinearities which may lead to chaotic behavior, are ignored. Additionally, the necessary ...Show More

Feedback Linearization using High Gain Observer for Nonlinear Electromechanical Actuator

Abid Raza;Fahad Mumtaz Malik;Naveed Mazhar;Rameez Khan;Hameed Ullah

Year: 2019 | Conference Paper |

Modelling Inspiration and Expiration Mechanism of Lungs using Bond Graph

Adeela Arshad;Amer Sohail Kashif;Muhammad Wasim;Naveed Mazhar;Syed M. Tahir Zaidi

2018 IEEE 9th Annual Information Technology, Electronics and Mobile Communication Conference (IEMCON)
Year: 2018 | Conference Paper |
Cited by: Papers (1)
In modern technological era research in Mechanical Ventilators (MV) has drastically increased in designing model based MV treatment. In model based MV treatment mathematical model of lung is used to detect lungs diseases. In proposed work, inspiration and expiration mechanism of lungs has been modelled using Bond Graphs. Lung segments are assigned Hydraulic analogies using cylinders and accumulato...Show More

Modelling Inspiration and Expiration Mechanism of Lungs using Bond Graph

Adeela Arshad;Amer Sohail Kashif;Muhammad Wasim;Naveed Mazhar;Syed M. Tahir Zaidi

Year: 2018 | Conference Paper |

Bond Graph Modeling of Lungs

Adeela Arshad;Amer Sohail Kashif;Muhammad Wasim;Naveed Mazhar;Syed M. Tahir Zaidi

2018 International Conference on Computing, Electronic and Electrical Engineering (ICE Cube)
Year: 2018 | Conference Paper |
Cited by: Papers (1)
In this modern era research in mechanical ventilator model designing has increased a lot. Mathematical model of lungs is used to distinguish the pulmonary diseases. In this work bond graph model of breathing mechanism i.e. inspiration and expiration of lungs is developed. Hydraulic analogies are allocated to lungs using cylinders and accumulators. From nostrils to trachea single cylinder is consid...Show More

Bond Graph Modeling of Lungs

Adeela Arshad;Amer Sohail Kashif;Muhammad Wasim;Naveed Mazhar;Syed M. Tahir Zaidi

Year: 2018 | Conference Paper |

Design and Modeling of Robust Multi Degree of Freedom Micro Gyroscope with Wide Bandwidth

Muhammad Saqib;Muhammad Mubasher Saleem;Naveed Mazhar;Saif Ullah Awan;Masood Ur Rehman

2018 IEEE 21st International Multi-Topic Conference (INMIC)
Year: 2018 | Conference Paper |
Cited by: Papers (1)
Micro gyroscopes are among the rapidly aggrandizing field of the micro electro mechanical systems (MEMS), which is procured with its extensive range of applications around the globe. This paper depicts an innovated approach of designing and modeling of a novel brawny multi-mass gyroscope to acquire dynamic motion amplification and spacious bandwidth. The proposed resonator block is accompanied by ...Show More

Design and Modeling of Robust Multi Degree of Freedom Micro Gyroscope with Wide Bandwidth

Muhammad Saqib;Muhammad Mubasher Saleem;Naveed Mazhar;Saif Ullah Awan;Masood Ur Rehman

Year: 2018 | Conference Paper |

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