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Proportional integral derivative plus control for nonlinear discrete-time state-dependent parameter. . .

26. Han S, Wang H, Tian Y, Christov N. Time- 38. Jasim Mohamed, Mohamed, et al. Hybrid con-
delay estimation based com- puted torque con- troller with neural network PID/FOPID opera-
trol with robust adaptive rbf neural network com- tions for two-link rigid robot manipulator based
pensator for a reha- bilitation exoskeleton. ISA on the zebra optimization algorithm. Frontiers in
Trans. 2020;97:171–181. Robotics and AI. 2024;11:1386968.
27. Ahmed S, Azar AT. Enhanced tracking control for
n-dof robotic manipula- tors: A fixed-time termi-
nal sliding mode approach with time delay esti- Saim Ahmed received the B.S. degree in electron-
mation. Results Eng. 2024;24:102904. ics from the Sir Syed University of Science and Tech-
28. Li G, Ma X, Li Y. Adaptive sliding mode control nology, Pakistan, in 2009, the M.E. degree in indus-
based on time-delay estimation for underactuated trial control and automation from Hamdard Univer-
7-dof tower crane. IEEE Trans Syst Man Cybern sity, Pakistan, in 2013, and the Ph.D. degree in con-
Syst. 2025. trol science and engineering from Nanjing University
29. Van M, Ge SS, Ren H. Finite time fault tolerant of Science and Technology, China, in 2019. He is cur-
control for robot ma- nipulators using time delay rently a Postdoctoral Researcher with the Automated
estimation and continuous nonsingular fast ter- Systems and Computing Laboratory (ASCL), Prince
minal sliding mode control. IEEE Trans Cybern Sultan University, Saudi Arabia. His research in-
2016;47(7):1681–1693. terests include the theory and applications of adap-
30. Choi J, Kwon W, Lee YS, Han S. Adaptive time- tive control, sliding mode control, time delay control,
delay estimation error compensation for applica- robotic manipulators, and non-linearities and their
tion to robot manipulators. Control Eng Pract. compensation..
2024;151:106029. https://orcid.org/0000-0002-2302-705X
31. Jin M, Kang SH, Chang PH, Lee J. Robust con- Ahmad Taher Azar is currently a Full Professor
trol of robot manipulators using inclusive and en- with Prince Sultan University, Riyadh, Saudi Ara-
hanced time delay control. IEEE/ASME Trans bia, where he is also the Leader of the Automated
Mechatronics. 2017;22(5):2141–2152. Systems and Computing Laboratory (ASCL). He has
32. Jin M, Kang SH, Chang PH. Robust compliant
expertise in artificial intelligence, control theory and
motion control of robot with nonlinear friction us-
applications, robotics, machine learning, computa-
ing time-delay es- timation. IEEE Trans Ind Elec-
tional intelligence, and dynamic system modeling. He
tron. 2008;55(1):258–269.
has authored/coauthored over 450 research papers in
33. Hsia TC, Gao L. Robot manipulator control using
prestigious peer-reviewed journals, book chapters, and
decentralized linear time-invariant time-delayed
conference proceedings. He is currently an Editor
joint controllers. In Proceedings IEEE Interna-
of IEEE SYSTEMS JOURNAL, IEEE TRANSAC-
tional Conference on Robotics and Automation,
TIONS ON NEURAL NETWORKS AND LEARN-
IEEE, 1990;2070–2075. ING SYSTEMS, Human Centric Computing and In-
¨
34. Yavuz M, Ozt¨urk M, Ya¸skıran B. Comparison of
formation Sciences (Springer), and Engineering Ap-
fractional order sliding mode controllers on robot
plications of Artificial Intelligence (Elsevier).
manipulator. ICAM’24 2024;188.
https://orcid.org/0000-0002-7869-6373
35. Reichhartinger M, Spurgeon S, Forstinger M,
Wipfler M. A robust exact differentiator toolbox Ibraheem Kasim Ibraheem was born in Baghdad,
for matlab®/simulink®. IFAC-PapersOnLine, Iraq, in 1976. He received the B.S. degree in electrical
2017;50(1):1711–1716. engineering from the University of Baghdad, Baghdad,
36. Asl SBF, Moosapour SS. Adaptive backstepping Iraq, in 1998 and M.Sc. Ph.D degrees in Computer
fast terminal sliding mode controller design for Control Engineering from the same university and de-
ducted fan engine of thrust-vectored aircraft. partment, in 2001 and 2007, respectively. In 2012, he
Aerosp. Sci. Technol. 2017;71:521–529. became a Professor. His research interests include Ac-
37. Ahmed S, Azar AT, Tounsi M. Adaptive fault tive disturbance rejection control, power control, Ro-
tolerant non-singular sliding mode control for botics, signal processing, nonlinear control, and intel-
robotic manipulators based on fixed-time control ligent control applications.
law. Actuators. 2022;11(12):353. http://orcid.org/0000-0001-7009-3634

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