48 citations · 146 across the 14 of their papers we have counts for
15 papers
An Observer-Based Reinforcement Learning Solution for Model-Following Problems
Mohammed I. Abouheaf, Kyriakos G. Vamvoudakis, Mohammad A. Mayyas +1
In this paper, a multi-objective model-following control problem is solved using an observer-based adaptive learning scheme. The overall goal is to regulate the model-following err…
Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion
Hashim A. Hashim, Abdelrahman E. E. Eltoukhy, Kyriakos G. Vamvoudakis +1
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, posit…
A Policy Iteration Approach for Flock Motion Control
Shuzheng Qu, Mohammed Abouheaf, Wail Gueaieb +1
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agent…
A Data-Driven Model-Reference Adaptive Control Approach Based on Reinforcement Learning
Mohammed Abouheaf, Wail Gueaieb, Davide Spinello +1
Model-reference adaptive systems refer to a consortium of techniques that guide plants to track desired reference trajectories. Approaches based on theories like Lyapunov, sliding…
An Adaptive Fuzzy Reinforcement Learning Cooperative Approach for the Autonomous Control of Flock Systems
Shuzheng Qu, Mohammed Abouheaf, Wail Gueaieb +1
The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches t…
Real-Time Measurement-Driven Reinforcement Learning Control Approach for Uncertain Nonlinear Systems
Mohammed Abouheaf, Derek Boase, Wail Gueaieb +2
The paper introduces an interactive machine learning mechanism to process the measurements of an uncertain, nonlinear dynamic process and hence advise an actuation strategy in real…
An Online Model-Following Projection Mechanism Using Reinforcement Learning
Mohammed I. Abouheaf, Hashim A. Hashim, Mohammad A. Mayyas +1
In this paper, we propose a model-free adaptive learning solution for a model-following control problem. This approach employs policy iteration, to find an optimal adaptive control…
Neural-adaptive Stochastic Attitude Filter on SO(3)
Hashim A. Hashim, Mohammed Abouheaf, Kyriakos G. Vamvoudakis
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the…
Geometric Stochastic Filter with Guaranteed Performance for Autonomous Navigation based on IMU and Feature Sensor Fusion
Hashim A. Hashim, Mohammed Abouheaf, Mohammad A. Abido
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dy…
Responding to Illegal Activities Along the Canadian Coastlines Using Reinforcement Learning
Mohammed Abouheaf, Shuzheng Qu, Wail Gueaieb +2
This article elaborates on how machine learning (ML) can leverage the solution of a contemporary problem related to the security of maritime domains. The worldwide ``Illegal, Unrep…
Online Model-Free Reinforcement Learning for the Automatic Control of a Flexible Wing Aircraft
Mohammed Abouheaf, Wail Gueaieb, Frank Lewis
The control problem of the flexible wing aircraft is challenging due to the prevailing and high nonlinear deformations in the flexible wing system. This urged for new control mecha…
Data-Driven Optimized Tracking Control Heuristic for MIMO Structures: A Balance System Case Study
Ning Wang, Mohammed Abouheaf, Wail Gueaieb
A data-driven computational heuristic is proposed to control MIMO systems without prior knowledge of their dynamics. The heuristic is illustrated on a two-input two-output balance…
Trajectory Tracking of Underactuated Sea Vessels With Uncertain Dynamics: An Integral Reinforcement Learning Approach
Mohammed Abouheaf, Wail Gueaieb, Md. Suruz Miah +1
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-track…
Guidance Mechanism for Flexible Wing Aircraft Using Measurement-Interfaced Machine Learning Platform
Mohammed Abouheaf, Nathaniel Mailhot, Wail Gueaieb +1
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the…
Online Multi-Objective Model-Independent Adaptive Tracking Mechanism for Dynamical Systems
Mohammed Abouheaf, Wail Gueaieb, Davide Spinello
The optimal tracking problem is addressed in the robotics literature by using a variety of robust and adaptive control approaches. However, these schemes are associated with implem…