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Abstract Time Domain Passivity Control deals with the stabilization of haptic interfaces in tele... more Abstract Time Domain Passivity Control deals with the stabilization of haptic interfaces in teleoperation using the notion of passivity directly in the continuous time variables like force and velocity. In a previous work, authors have already shown that this concept can be utilized to stabilize ...
In this paper, upper bounds for time-varying delays in the real-time control of a lab helicopter ... more In this paper, upper bounds for time-varying delays in the real-time control of a lab helicopter in the sense of practical stability analysis are derived. Sub-optimal controller parameters for this non-linear plant with a given maximum time-delay are calculated with the help of Lyapunov-Razumikhin method using LMIs (Linear Matrix Inequalities). These parameters are then optimized for extended time-delay margins by considering design specifications like settling-time and overshoot, using a novel 3dimensional search algorithm in the vicinity of the previously identified values. Trade-off between settling-time and overshoot is achieved with the help of appropriate weighting factors in an objective function based approach.
Journal of Materials Processing Technology, 2008
In any finish milling process the minimization of surface roughness is the prime objective, and i... more In any finish milling process the minimization of surface roughness is the prime objective, and if the workpiece belongs to the category of ultra-hard steels then the objective of maximizing tool life also gains considerable importance. In this research work, the effects of four ...
Abstract Time Domain Passivity Control deals with the stabilization of haptic interfaces in tele... more Abstract Time Domain Passivity Control deals with the stabilization of haptic interfaces in teleoperation using the notion of passivity directly in the continuous time variables like force and velocity. In a previous work, authors have already shown that this concept can be utilized to stabilize ...
In this paper, upper bounds for time-varying delays in the real-time control of a lab helicopter ... more In this paper, upper bounds for time-varying delays in the real-time control of a lab helicopter in the sense of practical stability analysis are derived. Sub-optimal controller parameters for this non-linear plant with a given maximum time-delay are calculated with the help of Lyapunov-Razumikhin method using LMIs (Linear Matrix Inequalities). These parameters are then optimized for extended time-delay margins by considering design specifications like settling-time and overshoot, using a novel 3dimensional search algorithm in the vicinity of the previously identified values. Trade-off between settling-time and overshoot is achieved with the help of appropriate weighting factors in an objective function based approach.
Journal of Materials Processing Technology, 2008
In any finish milling process the minimization of surface roughness is the prime objective, and i... more In any finish milling process the minimization of surface roughness is the prime objective, and if the workpiece belongs to the category of ultra-hard steels then the objective of maximizing tool life also gains considerable importance. In this research work, the effects of four ...