Krishna Busawon

• PhD, MPhil, Master
• Systems Engineer at Northumbria University

Transportation of heavy loads is often performed by multi-axle multi-steered heavy duty vehicles In this article a novel nonlinear optimal control method is applied to the kinematic model of the five-axle and three-steering coupled vehicle system. First, it is proven that the dynamic model of this articulated multi-vehicle system is differentially...

Dual-arm robotic manipulators are used in industry and for assisting humans since they enable dexterous handling of objects and more agile and secure execution of pick-and-place, grasping or assembling tasks. In this paper, a nonlinear optimal control approach is proposed for the dynamic model of a dual robotic arm. In the considered application, t...

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In this article a Kalman Filter-based disturbance observer is proposed for treating the fault detection and isolation problem of the VSC-HVDC transmission system. By proving differential flatness properties for the state-space model of the VSC-HVDC system which consists of an AC/DC converter-(rectifier), a high-voltage DC transmission line and a DC...

Free-floating space robotic manipulators (FSRMs) are robotic arms mounted on space platforms, such as spacecraft or satellites which are used for the repair of space vehicles or the removal of noncooperating targets such as inactive material remaining in orbit. In this paper, a novel nonlinear optimal control method is applied to the dynamic model...

This paper provides a holistic assessment of the Sustainable Development Goals’ (SDG) hortfalls and strengths through a comprehensive review of extant literature, spanning a wide array of sources across multiple sectors encompassing different geographical regions. Some of the identified shortfalls, among others, relate to the conflict and incompati...

The development of an entirely machine parameter independent vector control algorithm for sensorless operation of the emerging brushless doubly fed reluctance generator (BDFRG) for wind power applications is put forward in this paper. A model reference adaptive system (MRAS) with on-line parameter identification has been implemented for the accurat...

The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of (i) unmanned aerial vehicles and (ii) micro-satellites is separated into two subsystems, which are connected...

The control problem for the multivariable and nonlinear dynamics of unmanned rotorcrafts is treated with the use of a flatness-based control approach which is implemented in successive loops. The state-space model of 6-DOF autonomous quadrotors is separated into two subsystems, which are connected between them in cascading loops. Each one of these...

Selective compliance articulated robot arms (SCARA) robotic manipulators find wide use in industry. A nonlinear optimal control approach is proposed for the dynamic model of the 4-degrees of freedom (DOF) SCARA robotic manipulator. The dynamic model of the SCARA robot undergoes approximate linearization around a temporary operating point that is re...

The extraction of wave energy in coastal regions may be considered as a viable alternative due to the non-ending rise in global demand for renewable energy. The viability of this extraction is determined by assessing the wave energy potential that is mildly explored in Mauritius. As a result, this research demonstrates the evaluation and characteri...

Renewable energy is seen as the greatest solution for meeting growing energy needs. Wind energy is regarded as a rich energy source, and it frequently coexists alongside solar energy. In comparison to fossil fuels, it is inexhaustible and pollution-free. Based on its purpose and energy producing yield, wind turbines are frequently classified as sma...

The power curves of Marine Energy Conversion Systems (MECSs) exhibit a sigmoid relationship. The Logistic and Weibull functions are examples of standard sigmoid functions used in this context.In this research, we performed a comparative analysis to explore the suitability of the most well-known sigmoid functions for modelling marine current turbine...

This paper develops an intelligent real-time learning framework for the last-mile delivery of mobility as a service in city planning, based upon safe infrastructure use. Through a hybrid approach integrating statistics and supervised machine learning techniques, knowledge-driven solutions based on the specific user rather than generalized safe mobi...

Attitude control and stabilization of micro-satellites is a nontrivial problem due to the highly nonlinear and multivariable structure of the satellites’ state-space model. In this paper, a novel nonlinear optimal (H-infinity) control approach is developed for this control problem. The dynamic model of the satellite’s attitude dynamics undergoes fi...

Attitude control and stabilization of a micro-satellite is a nontrivial problem due to the highly nonlinear and multivariable structure of the satellites’ state-space model. In this article a novel nonlinear optimal (H-infinty) control approach is developed for this control problem. The dynamic model of the satellite’s attitude dynamics undergoes f...

The ball and plate system exhibits strong nonlinearities and multi-variable dynamics and its stabilization and control is a non-trivial task. The related control problem becomes even more complicated because of the system’s underactuation (the system has four degrees of freedom while receiving only two control inputs). In this article a novel nonli...

Truck and N-trailer mobile robots find use in freight transportation, urban transportation, mining as well as in agriculture. The article proposes a nonlinear optimal (H-infinity) control approach for the truck and N-trailer robotic system. The method has been successfully tested so far on the control problem of several types of robotic vehicles an...

This paper deals with the problem of distributed passive fault tolerant formation tracking control for cooperative second order multi-agent systems (MASs) subject to disturbances and sensor/actuator faults. The proposed scheme is based on decentralized observers used to robustly estimate the actuator and sensor faults in spite of disturbances. Thes...

Time-sensitive wireless applications have strict requirements on real-time data transmission and control operation. Even though time synchronisation has been extensively studied for providing a common timing among distributed wireless nodes, there still exists a lack of research for low-accuracy and large-drifting clocks, such as internal Resistor-...

To create a safe bicycle infrastructure system, this article develops an intelligent embedded learning system using a combination of deep neural networks. The learning system is used as a case study in the Northumbria region in England’s northeast. It is made up of three components: (a) input data unit, (b) knowledge processing unit, and (c) output...

This paper deals with the problem of distributed fault detection and isolation in multi-agent systems with disturbed high-order dynamics subject to communication uncertainties and faults. Distributed finite-frequency mixed $${\mathcal {H}}_-$$ H - $$/{\mathcal {H}}_\infty $$ / H ∞ unknown input observers are designed to detect and distinguish actua...

This paper proposes a nonlinear optimal control approach for mulitple degrees of freedom (DOF) brachiation robots, which are often used in inspection and maintenance tasks of the electric power grid. Because of the nonlinear and multivariable structure of the related state-space model, as well as because of underactuation, the control problem of th...

The indoor connected environment has witnessed significant research and development attention from industries and academia due to the growing number of smaller smart indoor devices around us. Developing an effective and efficient wireless access standard is one of the challenging tasks to enable the next generation indoor connected environment. The...

Surface acoustic wave (SAW) devices are increasingly applied in life science, biology, and point-of-care applications due to their combined acoustofluidic sensing and actuating properties. Despite the advances in this field, there remain significant gaps in interfacing hardware and control strategies to facilitate system integration with high perfo...

A cyclist is a vulnerable road user whose interaction with the road infrastructure depends on several factors, including variable environmental conditions of lighting and meteorological road surface. This paper is concerned with nanoscopic crash modelling under the riskiest environmental conditions. There are very few works in the literature dealin...

The transportation system's present need is to increase the cycling mode share, which can only be achieved by improving its safety. This paper aims to develop a predictive intelligent safety modelling framework for the riskiest cyclist infrastructure based upon the prevalent environment, traffic flow conditions, and specific users. The northeast of...

This paper is concerned with modelling cyclist road safety by considering various factors including infrastructure, spatial, personal and environmental variables affecting cycling safety. Age is one of the personal attributes, reported to be a significant critical variable affecting safety. However, very few works in the literature deal with such a...

This paper is concerned with designing and numerically implementing a V2X (Vehicle-to-Vehicle and Vehicle-to-Infrastructure) control system architecture for a platoon of autonomous vehicles. The V2X control architecture integrates the well-known Intelligent Driver Model (IDM) for a platoon of Autonomous Driving Vehicles (ADVs) with Vehicle-to-Infra...

Infrastructure selection, design and planning play a pivotal role in creating a safe travel environment for road users, especially the vulnerable road user. In this work, it is aimed to develop a predictive intelligent safety model for the riskiest cyclist infrastructure, based upon the prevalent environment, traffic flow conditions, and specific u...

This paper is concerned with the development of an intelligent nanoscopic safety model for cycling safety. The present models are primarily focused on motorists modelling at an aggregate level. In this work, a framework for safety analysis is proposed consisting of a) Data collection unit, b) Data storage unit, and c) Knowledge processing unit. The...

Thermoelectric refrigerating systems (TER) are environment-friendly technologies. They have several advantages such as low maintenance costs, are less cumbersome and long lifetime. However, these systems have low coefficient of performance and are limited in achieving low temperature levels. This study investigates a new configuration of TE refrige...

Abstract Building Integrated Photovoltaic (BIPV) microinverter system needs lower component counts and high efficiency at low power levels. In this context, this paper proposes a single‐phase Transformerless Single‐stage Buck‐Boost Microinverter with sensorless control for the Grid‐integrated BIPV system. The current estimation strategy is used to...

Transportation negatively affects the environment due to a high carbon footprint associated with travel. In this paper, we estimate the commuter travel emissions of an out-of-town centre and evaluate the modelled emission against the targets set out by the UK government for 2030 (Climate Change Act), and 2050 (Committee on Climate Change, Kyoto pro...

The continuous increase in the uptake of electric vehicles and the interest to use electric vehicles to provide energy services require commercially viable business models for all involved stakeholders. It is, however, challenging to achieve the synergy among different stakeholders since their objectives are often conflicting. This work proposes a...

This paper studies the problem of distributed robust actuator fault detection for multi‐agent systems composed of multiple unicycle‐type mobile agents with chained form dynamics. This objective is achieved through the design of cascades of predefined‐time sliding mode observers to give an exact estimate of the global system state, whereby the settl...

This paper is concerned with the modelling of cyclist road traffic crashes by considering multiple factors affecting the safety of cyclists. There are very few works in the literature dealing with such a problem. The available models in the literature are only based upon the probabilistic function of human error. In this study, we propose an intell...

This paper proposes a novel nonlinear feedback control strategy for velocity and attitude control of fixed wing aircrafts. The key feature of the control design strategy is the introduction of a virtual control input in order to deal with the underactuation property of such vehicles and to indirectly control the orientation of the aircraft. As such...

A nonlinear optimal control approach is developed for the quadruple water tank system. Approximate linearization around a temporary operating point is applied to the nonlinear dynamic model of the four water tanks which are fed by two pumps. The linearization makes use of Taylor series expansion and of the calculation of the system's Jacobian matri...

This paper studies an approach for detecting cyber attacks against networked cooperative systems (NCS) that are assumed to be working in a cyber-physical environment. NCS are prone to anomalies both due to cyber and physical attacks and faults. Cyber-attacks being more hazardous given the cooperative nature of the NCS may lead to disastrous consequ...

This paper is concerned with the modelling of cyclist road traffic crashes by considering the personal attributes, i.e. gender and age of the cyclists. There are 21 different types of variables considered for each crash, which broadly fall into spatial, infrastructure, and environment categories. The study area of Tyne and Wear county in the north-...

This paper proposes a novel nonlinear feedback control strategy for velocity and attitude control of fixed wing aircrafts. The key feature of the control design strategy is the introduction of a virtual control input in order to deal with the underactuation property of such vehicles and to indirectly control the orientaion of the aircraft. As such,...

This paper deals with the problem of distributed fault detection for a team of multi-agent systems with linear dynamics using output observers. The proposed output observer is employed to estimate the state of virtual models based on relative outputs in order to generate a set of residual signal that are indicative of the presence of a fault. The c...

In this paper, a Packet-Coupled Oscillators (PkCOs) synchronisation protocol is proposed for time-sensitive Wireless Sensor Networks (WSNs) based on Pulse-Coupled Oscillators (PCO) in mathematical biology. The effects of delays on synchronisation performance are studied through mathematical modelling and analysis of packet exchange and processing d...

This paper proposes a distributed methodology for the detection of actuator faults in a class of linear multi-agent systems in the presence of disturbances. A cascade of fixed-time observers is introduced to give an exact estimate of the global system state for each agent whereby the convergence time is estimated regardless of the initial condition...

In this paper, a Packet-Coupled Oscillators (PkCOs) synchronisation protocol is proposed for time-sensitive Wireless Sensor Networks (WSNs) based on Pulse-Coupled Oscillators (PCO) in mathematical biology. The effects of delays on synchronisation performance are studied through mathematical modelling and analysis of packet exchange and processing d...

It is now well established that rate of leakage of water is directly related to the distribution pressure in a network. In this context, pumps can consume up to 60% of the overall energy requirement in the case of pressure driven demand whereby they are solicited for direct supply. In this paper, we investigate the energy efficiency of distribution...

The article proposes a non-linear optimal control approach for four-wheel omnidirectional mobile robots. The method has been successfully tested so-far on the control problem of several types of autonomous ground vehicles and the present article shows that it can also provide the only optimal solution to the control problem of four-wheel omnidirect...

A differential flatness theory‐based control and state estimation method has been developed for electric power units that consist of synchronous generators connected to gas turbines. The dynamic model of the power unit satisfies the properties of differential flatness and this allows for its transformation into an input–output linearized form. More...

In this paper, a Packet-Coupled Oscillators (PkCOs) synchronisation protocol is proposed for time-sensitive Wireless Sensor Networks (WSNs) based on Pulse-Coupled Oscillators (PCO) in mathematical biology. The effects of delays on synchronisation performance are studied through mathematical modelling and analysis of packet exchange and processing d...

The article proposes a nonlinear optimal (H-infinity) control method for a hypersonic aerial vehicle (HSV). The dynamic model of the hypersonic vehicle undergoes approximate linearization around a temporary operating point which is recomputed at each iteration of the control method. This operating point consists of the present value of the system’s...

A nonlinear optimal control method is developed for autonomous truck and trailer systems. Actually, two cases are distinguished: (a) a truck and trailer system that is steered by the front wheels of its truck, (b) an autonomous fire-truck robot that is steered by both the front wheels of its truck and by the rear wheels of its trailer. The kinemati...

The article presents a nonlinear H-infinity (optimal) control approach for the problem of the control of the spherical rolling robot. The solution of such a control problem is a nontrivial case due to underactuation and strong nonlinearities in the system’s state-space description. The dynamic model of the robot undergoes approximate linearization...

In this paper, we investigate the behaviour of scalar controlled AC Variable Frequency Drives for induction motors when coupled with different types of loads. It is well known that slip is more pronounced at high speeds rather than low speeds in loads such as in pumps and fans operation because the torque load varies as the square or cube of the sp...

The article proposes a nonlinear optimal control method for the model of the wheeled inverted pendulum (WIP). This is a difficult control and robotics problem due to the system’s strong nonlinearities and due to its underactuation. First, the dynamic model of the WIP undergoes approximate linearization around a temporary operating point which is re...

This paper addresses the problem of robust flight control for fixed wing aircrafts. Such systems are generally of Multi-Input Multi-Output (MIMO) form, tightly coupled and highly nonlinear whereby the nonlinearity resides both in the dynamic equations and in the aerodynamic coefficients. Consequently, we propose to combine Homogeneous High Order Sl...

As a key enabling technology in mission-critical Wireless Sensor Networks (WSNs), time synchronization provides a common timescale for distributed sensor nodes in many wireless applications, such as coordinated control and underwater navigation and tactical surveillance. Inspired by the behaviour of fireflies, along with mathematical model, Pulse-C...

Visible Light Communication (VLC) uses light-emitting diodes to provide wireless connectivity in public environments. Transmission security in this emerging channel is not trivial. Chaotic modulation techniques can provide encryption directly in the physical layer based on the random-alike evolution and strong synchronization prospect given by dete...