Publication

Journals

1. M.O. Efe, B. Kurkcu, C. Kusnakoglu, Z. Mohamed, Z. Liu, Switched neural networks for simultaneous learning of multiple function, IEEE Transactions on Emerging Topics in Computational Intelligence, Accepted for publication on 11 February 2024. 10.1109/TETCI.2024.3369981

2. M.O. Efe, B. Kurkcu, C. Kusnakoglu, Z. Mohamed, Z. Liu, A modified Levenberg Marquardt algorithm for simultaneous learning of multiple datasets, IEEE Transactions on Circuits and Systems II: Express Briefs, 71(4), 2024, 2379-2383. https://doi.org/10.1109/TCSII.2023.3335140.

3. W. A. Balogun, Z. Mohamed, A. M. Abdullahi, S. M. Fasih ur Rehman, Design and real-time implementation of a distributed-delay input shaper for sway control of a double-pendulum overhead crane, International Journal of Mechatronics and Manufacturing Systems, 16(4), 2023, 364-380. https://doi.org/10.1504/IJMMS.2023.10061384.

4. N. Hadidi, M. Bouaziz, C. Mahfoudi, Z. Mohamed, Geometric approach to solve inverse kinematics of 6 DOF robot with spherical joint, Acta Polytechnica, 63(5), 2023, 326-346. https://doi.org/10.14311/AP.2023.63.0326.

5. A. Haruna, Z. Mohamed, M.O. Efe and A. M. Abdullahi, Switched step integral backstepping control for nonlinear motion systems with application to a laboratory helicopter, ISA Transactions, 141, 2023, 470-481. https://doi.org/10.1016/j.isatra.2023.07.002

6. S.M. Fasih ur Rehman, Z. Mohamed, A. R. Husain, L. Ramli, M. A. Abbasi, W. Anjum and M. H. Shaheed, Adaptive input shaper for payload swing control of a 5-DOF tower crane with parameter uncertainties and obstacle avoidance, Automation in Construction, 154, 2023, 104963. https://doi.org/10.1016/j.autcon.2023.104963.

7. A. Haruna, Z. Mohamed, M. A. Abdullahi, M. A. Mohd Basri, A review of control algorithms for twin rotor systems, Applications of Modelling and Simulation, 7, 2023, 93-99. http://arqiipubl.com/ojs/index.php/AMS_Journal/article/view/413.

8. A. Noordin, M. A. M. Basri, Z. Mohamed, Adaptive PID Control via Sliding Mode for Position Tracking of Quadrotor MAV: Simulation and Real-Time Experiment Evaluation, Aerospace, 10, 2023, 512. https://doi.org/10.3390/aerospace10060512.

9. A. Nordin, M. A. Mohd Basri, Z. Mohamed, Real-time implementation of an adaptive PID controller for the quadrotor MAV embedded control system, Aerospace, 10, 2023, 59. https://doi.org/10.3390/aerospace10010059.

10. A. Nordin, M. A. M. Basri, Z. Mohamed, Position and attitude tracking of MAV quadrotor using SMC-based adaptive PID controller, Drones, 6(9), 2022, 263. https://doi.org/10.3390/drones6090263

11. C. Sun, S. Agha, Z. Mohamed, M. H. Shaheed, Optimised sliding mode control of a hexacopter: simulation and experiments, Electronics, 11, 2022, 2519. https://doi.org/10.3390/electronics11162519

12. R. M. Muaz, F. Hassan, M. A. M. Basri, Z. Mohamed, Modelling and oscillation control of a quadrotor with cable-suspended load, International Journal of Mechatronics and Manufacturing Systems, 15(1), 2022, 89-103.https://doi.org/10.1504/IJMMS.2022.10047092

13. S. M. Fasih ur Rehman, Z. Mohamed, A. R. Husain, H. I. Jaafar, M. H. Shaheed, M. A. Abbasi, Input shaping with an adaptive mechanism for swing control of an underactuated tower crane under payload hoisting and mass variations, Mechanical Systems and Signal Processing, 175, 2022, 109106. https://doi.org/10.1016/j.ymssp.2022.109106

14. O. O. Obadina, M. A. Thaha, Z. Mohamed, M. H. Shaheed, Grey-box modelling and fuzzy logic control of a leader-follower robot manipulator system: a hybrid wolf-whale optimisation, ISA Transactions, 129(B), 2022, 572-593. https://doi.org/10.1016/j.isatra.2022.02.023

15. H.I. Jaafar, Z. Mohamed, M.A. Ahmad, N.A. Wahab, L. Ramli, M.H. Shaheed, Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: Design, simulation and experiment, Mechanical Systems and Signal Processing, 151, 2021, 107358. https://doi.org/10.1016/j.ymssp.2020.107358

16. A. Nordin, M.A.M. Basri, Z. Mohamed, Adaptive PID controller using sliding mode approaches for quadrotor UAV attitude and position, Arabian Journal for Science and Engineering, 46, 2021, 963-981. https://doi.org/10.1007/s13369-020-04742-w

17. A. M. Abdullahi, Z. Mohamed, H. Selamat, H. R. Pota, M. S. Zainal Abidin and S. M. Fasih, Efficient control of a 3D overhead crane with simultaneous payload hoisting and wind disturbance: Design, simulation and experiment, Mechanical Systems and Signal Processing, 2020, 145, 2020, 106893. https://doi.org/10.1016/j.ymssp.2020.106893

18. S. M. Fasih, Z. Mohamed, A. R. Husain, L. Ramli, A. M. Abdullahi and W. Anjum, Payload swing control of a tower crane using a neural network-based input shaper, Measurement and Control, 53(7-8), 2020, 1171-1182. https://doi.org/10.1177/0020294020920895

19. Liyana Ramli, Z. Mohamed, M.O. Efe, Izzuddin M. Lazim and H.I. Jaafar, Efficient swing control of an overhead crane with simultaneous payload hoisting and external disturbances, Mechanical Systems and Signal Processing, 135, 2020, 106326. https://doi.org/10.1016/j.ymssp.2019.106326.

20. Liyana Ramli, Izzudin M. Lazim, H.I. Jaafar, Z. Mohamed, Modelling and fuzzy logic control of an underactuated tower crane system, Applications of Modelling and Simulation, 4, 2020, 1-11. http://arqiipubl.com/ojs/index.php/AMS_Journal/article/view/93/72

21. A. Haruna, Z. Mohamed, M.O. Efe and M.A.M. Basri, Improved integral backstepping control of variable speed motion systems with application to a laboratory helicopter, ISA Transactions, 97, 2020, 1-13. https://doi.org/10.1016/j.isatra.2019.07.016

22. I.M. Lazim, A.R. Husain, Z. Mohamed, M.A.M. Basri, N.A.M. Subha and L. Ramli, Disturbance observer-based formation tracking control of multiple quadrotors in the presence of disturbance, Transactions of the Institute of Measurement and Control, 41(4), 2019, 4129-4141. https://doi.org/10.1177/0142331219851925

23. A.A. Khalili, Z. Mohamed, M.A. Mohd Basri, Enhanced backstepping sliding mode controller for motion tracking of a nonlinear 2-DOF piezo-actuated micromanipulation system, Microsystem Technologies, 25, 2019, 3765-3777.

24. Siti Fadilah Abd Latip, A.R. Husain, Z. Mohamed, M.A. Mohd Basri, Adaptive PID actuator fault tolerant control of single-link flexible manipulator, Transactions of the Institute of Measurement and Control, In Press, https://doi.org/10.1177/0142331218776720

25. M.S.A. Mahmud, M.S. Zainal Abidin, Z. Mohamed, M.K.I. Abdul Rahman and M. Iida, Multi-objective path planner for an agriculture mobile robot in a virtual greenhouse environment, Computers and Electronics in Agriculture, 157, 2019, 488-499. https://doi.org/10.1016/j.compag.2019.01.016

26. M.J. Maghsoudi, Liyana Ramli, S. Sudin, Z. Mohamed, A.R. Husain, H. Wahid, Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting, Mechanical Systems and Signal Processing, 123, 2019, 466-482. https://doi.org/10.1016/j.ymssp.2018.12.056

27. H.I. Jaafar, Z. Mohamed, N.A. Mohd Subha, A.R. Husain, F.S. Ismail, Liyana Ramli, M.O. Tokhi and M.A. Shamsudin, Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller, Journal of Vibration and Control, 25(4), 2019, 907-921. https://doi.org/10.1177/1077546318804319

28. H.I. Jaafar, Z. Mohamed, M.A. Shamsudin, N.A. Mohd Subha, Liyana Ramli and A.M. Abdullahi, Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane, Mechanical Systems and Signal Processing, 115, 2019, 577-695. https://doi.org/10.1016/j.ymssp.2018.06.005

29. Liyana Ramli, Z. Mohamed and H.I. Jaafar, A neural network-based input shaping for swing suppression of an overhead crane under payload hoisting and mass variations, Mechanical Systems and Signal Processing, 107, 2018, 484-501. https://doi.org/10.1016/j.ymssp.2018.01.029

30. Auwalu M. Abdullahi, Z. Mohamed, H. Selamat, Hemanshu R. Pota, M.S. Zainal Abidin, F.S. Ismail and A. Haruna, Adaptive output-based command shaping for sway control of a 3D overhead crane with payload hoisting and wind disturbance, Mechanical Systems and Signal Processing, 98, 2018, 157-172. https://doi.org/10.1016/j.ymssp.2017.04.034

31. A. Alhassan, Z. Mohamed, A.M. Abdullahi, A.A. Bature, A. Haruna and N.M. Tahir, Input shaping techniques for sway control of a rotary crane system, Jurnal Teknologi, 80(1), 2018, 61-69.

32. A. Haruna, Z. Mohamed, M.O. Efe and M.A.M. Basri, Dual boundary conditional integral backstepping control of a twin rotor MIMO system, Journal of the Franklin Institute, 354(15), 2017, 6831-6854. https://doi.org/10.1016/j.jfranklin.2017.08.050

33. A. Haruna, Z. Mohamed, M.A.M. Basri, Liyana Ramli, A. Alhassan, 2-step integral backstepping control of the two-rotor aero-dynamical system (TRAS), Journal of Fundamental and Applied Sciences, 9(6S), 2017, 395-407. 

34. M. Sayahkarajy, E. Suprianto, Z. Mohamed, Reduced order modeling of two-link flexible manipulators using finite element modal decomposition, International Journal of Mechanics, 2017, 145-154.

35. Tan Ying Jian and Z. Mohamed, Modeling and sway control of a double-pendulum overhead crane system, Applications of Modelling and Simulation, 1(1), 2017, 15-21. http://arqiipubl.com/ojs/index.php/AMS_Journal/article/view/3/3

36. Auwalu M. Abdullahi, Z. Mohamed, M.S. Zainal Abidin, S. Buyamin and Amir A. Bature, Output-based command shaping technique for an effective payload sway control of a 3D crane with hoisting, Transactions of the Institute of Measurement and Control, 39(10), 2017, 1443-1453. https://doi.org/10.1177/0142331216640871

37. M.S.A. Mahmud, M.S. Zainal Abidin and Z. Mohamed, Localization and motion control implementation for an agricultural mobile robot, Jurnal Teknologi, 79(7), 2017, 31-39.

38. Liyana Ramli, Z. Mohamed, Auwalu M. Abdullahi, H.I. Jaafar, Izzudin M. Lazim, Control strategies for crane systems: a comprehensive review, Mechanical Systems and Signal Processing, 95, 2017, 1-23. https://doi.org/10.1016/j.ymssp.2017.03.015

39. Marwan Nafea, Colin Schlosser, S. Kazi, Z. Mohamed, M. S. Mohamed Ali, Optimal two-degree-of freedom control for precise positioning of a piezo-actuated stage, International Journal of Integrated Engineering, 9(4), 2017, 93-102.

40. Aminurrashid Noordin, Mohd Ariffanan Mohd Basri, Z. Mohamed and A.F. Zainal Abidin, Modelling and PSO fine-tuned PID control of quadrotor UAV, International Journal of Advanced Science, Engineering and Information Technology, 7(4), 2017, 1367-1373.

41. M.J. Maghsoudi, Z. Mohamed, S. Sudin, S. Buyamin, H.I. Jaafar and S.M. Ahmad, An improved input shaping design for an efficient sway control of a nonlinear 3D overhead crane with friction, Mechanical Systems and Signal Processing, 92, 2017, 364-378. https://doi.org/10.1016/j.ymssp.2017.01.036

42. MJ Maghsoudi, Z. Mohamed, MO Tokhi, AR Husain and MS Zainal Abidin, Control of a gantry crane using input shaping schemes with distributed delay, Transactions of the Institute of Measurement and Control, 39(3), 2017, 361-370. https://doi.org/10.1177/0142331215607615

43. M. Sayahkarajy, Z. Mohamed and A.A.M. Faudzi, A review of modelling and control of flexible-link manipulators, Proceedings of IMechE-Part I: Journal of Systems and Control Engineering, 230(8), 2016, 861-873. https://doi.org/10.1177/0959651816642099

44. M. Sayahkarajy, Z. Mohamed, A.A.M. Faudzi, Hybrid vibration and rest-to-rest control of a two-link flexible robotic arm using H-infinity loop-shaping control design, Engineering Computations, 33(2), 2016, 395-409. https://doi.org/10.1108/EC-11-2014-0228 

45. Z. Mohamed, M. Khairudin, A. R. Husain and B. Subudhi, LMI-based robust proportional derivative control of a two-link flexible manipulator, Journal of Vibration and Control, 22(5), 2016, 1244-1256. https://doi.org/10.1177/1077546314536427

46. MJ Maghsoudi, Z. Mohamed, A.R. Husain and M.O. Tokhi, An optimal performance control scheme for a 3D crane, Mechanical Systems and Signal Processing, 66-67, 2016, 756-768. https://doi.org/10.1016/j.ymssp.2015.05.020

47. SM Ahmad, OA Ahmed and Z Mohamed, Vibration induced failure analysis of a high speed rotor supported by active magnetic bearings, Transactions of the Canadian Society for Mechanical Engineers, 39(4), 2015, 855-866.

48. MJ Maghsoudi and Z. Mohamed, Active sway control of a gantry crane by an electrical ducted fan, International Journal of Acoustics and Vibration, 20(3), 2015, pp. 171-176.

49. MA Fairus, Z Mohamed, MN Ahmad and WS Loi, LMI-based multiobjective integral sliding mode control for rotary inverted pendulum system under load variations, Jurnal Teknologi, 73(6), 2015, 125-137.

50. Auwalu M. Abdullahi, Z. Mohamed and Marwan Nafea M, Resonant control of a single-link flexible manipulator, Jurnal Teknologi (Sciences and Engineering), 67(5), 2014, 35-39.

51. Marwan Nafea M, Z. Mohamed, Auwalu M. Abdullahi, M.R. Ahmad and A.R. Husain, Dynamic hysteresis based modeling of piezoelectric actuator, Jurnal Teknologi (Sciences and Engineering), 67(5), 2014, 9-13.

52. M. Sayahkarajy, Z. Mohamed, Mixed sensitivity H2/H∞ control of a flexible-link robotic arm, International Journal of Mechanical & Mechatronics Engineering, 14(1), 2014, 16-22.

53. Hazriq Izzuan Jaafar, Z. Mohamed, Amar Faiz Zainal Abidin, Zamani Md Sani, Jasrul Jamani Jamian and Anuar Mohamed Kassim, Performance analysis for a gantry crane system (GCS) using priority based fitness scheme in binary particle swarm optimization, Applied Mechanics and Materials, 529, 2014, 285-290.

54. M. Khairudin, Z. Mohamed, A.R. Husain and R. Mamat, Dynamic characterisation of a two-link flexible manipulator: theory and experiments, Advances in Robotics Research, 1(1), 2014, 61-79.

55. M. Khairudin, Z. Mohamed and Abdul Rashid Husain, Dynamic model and robust control of flexible link robot manipulator, Telkomnika, 9(2), 2011, 279-286.

56. Hazriq Izzuan Jaafar, Z. Mohamed, J.J. Jamian, Amar Faiz Zainal Abidin, Anuar Mohamed Kassim, Z. Ab Ghani, Dynamic Behaviour of a Nonlinear Gantry Crane System, Procedia Technology, 8C, 2013, 397–403.

57. Z. Mohamed, A.A. Mohd Faudzi, M.N. Ahmad, Z.M. Zain, A.W.I. Mohd Hashim. The application of computer algebra in modeling and vibration control of a flexible manipulator, Jurnal Teknologi (Sciences and Engineering), 54, 2011, 465-485.

58. M.A. Ahmad and Z. Mohamed. Modelling and simulation of vibration and input tracking control of a single-link flexible manipulator, Pertanika Journal Science and Technology, 18(1), 2010, 61-76.

59.  M. Khairudin, Z. Mohamed, A.R. Husain and M.A. Ahmad. Dynamic modeling and characterization of a two-link flexible robot manipulator, Journal of Low Frequency Noise, Vibration and Active Control, 29(3), 2010, 207-219. https://doi.org/10.1260/0263-0923.29.3.207

60. M.A. Ahmad and Z. Mohamed. The investigations of command shaping and non-collocated PID schemes in hybrid trajectory and sway control of a DPTOC system, Research Journal of Applied Sciences, 5(5), 2010, 320-327.

61. M.A. Ahmad and Z. Mohamed. Hybrid fuzzy logic control with input shaping for input tracking and sway suppression of a gantry crane system,  American J. of Engineering and Applied Sciences, 2(1), 2009, 241-251.

62. M.A. Ahmad, Z. Mohamed and Z.H. Ismail. Hybrid input shaping and PID control of a flexible robot manipulator, Journal of the Institute of Engineers Malaysia (IEM), 72(3), 2009, 56-62.

63. M.A.Ahmad and Z. Mohamed. Vibration suppression techniques in feedback control loop of a flexible robot manipulator, Journal of Modern Applied Science, 2(2), 2008, 59-70.

64. M.A. Ahmad, A.N.K. Nasir and Z. Mohamed. Techniques for vibration suppression and end-point trajectory tracking of flexible robot manipulator, Journal of Engineering and Applied Sciences, 3 (12), 2008, 918-924.

65. M.A. Ahmad, Z. Mohamed and Z.H. Ismail. Experimental investigation of feedforward control schemes of a flexible robot manipulator system, ELEKTRIKA: Journal of Electrical Engineering, 10(2), 2008, 28-35.

66. M.Z. Mohd Zain, M.O. Tokhi and Z. Mohamed. Hybrid learning control schemes with input shaping of a flexible manipulator system, Mechatronics, 16, 2006, 209-219. https://doi.org/10.1016/j.mechatronics.2005.11.004

67.  Z. Mohamed, A.K. Chee, A.W.I. Mohd Hashim, M.O. Tokhi, S.H.M. Amin and R. Mamat. Techniques for vibration control of a flexible manipulator system, Robotica, 24(4), 2006, 499-511. https://doi.org/10.1017/S0263574705002511

68. Z. Mohamed, J.M. Martins, M.O. Tokhi, J.Sa da Costa and M.A. Botto. Vibration control of a very flexible manipulator system, Control Engineering Practice, 13(3), 2005, 267-277. https://doi.org/10.1016/j.conengprac.2003.11.014

69. Z. Mohamed and M.O. Tokhi. Command shaping techniques for vibration control of a flexible robot manipulator, Mechatronics, 14(1), 2004, 69-90. https://doi.org/10.1016/S0957-4158(03)00013-8

70. J.M. Martins, Z. Mohamed, M.O. Tokhi, J. Sa da Costa and M.A. Botto. Approaches for dynamic modelling of flexible manipulator systems, Proceedings of IEE - Control Theory and Applications, 150(4), 2003, 401-411. 10.1049/ip-cta:20030496

71. Z. Mohamed and M.O. Tokhi. Vibration control of a single-link flexible manipulator using command shaping techniques, Proceedings of IMechE-I: Journal of Systems andControl Engineering, 216(2), 2002, 191-210. https://doi.org/10.1243/0959651021541552

72. Z. Mohamed and M.O. Tokhi. Hybrid control schemes for input tracking and vibration suppression of a flexible manipulator, Proceedings of IMechE-I: Journal of Systems andControl Engineering, 217(1), 2002, 23-34. https://doi.org/10.1177/095965180321700104

73. Z. Mohamed and M.O. Tokhi. A symbolic manipulation approach for modelling and performance analysis of flexible manipulator systems, International Journal of Acoustics and Vibration, 7(1), 2002, 27-37.

74. M.O. Tokhi, Z. Mohamed and M.H. Shaheed. Dynamic characterisation of a flexible manipulator system, Robotica, 19(5), 2001, 571-580. https://doi.org/10.1017/S0263574700003209

75. M.O. Tokhi, Z. Mohamed and A.W.I. Hashim. A symbolic approach to dynamic characterisation of a flexible manipulator using finite element methods, Vibration and Shock Digest, 32(1), 2000, 24.

76. M.O. Tokhi, Z. Mohamed and M.H. Shaheed. Dynamic modelling of a flexible manipulator system incorporating payload: theory and experiments, Journal of Low Frequency Noise, Vibration and Active Control, 19(4), 2000, 209-229. https://doi.org/10.1260/0263092001493056

77. M.O. Tokhi and Z. Mohamed. A finite element approach to dynamic modelling of a flexible robot manipulator: performance evaluation and computational requirements, Communications in Numerical Methods in Engineering, 15(9), 1999, 669-676. https://doi.org/10.1002/(SICI)1099-0887(199909)15:9<669::AID-CNM281>3.0.CO;2-W

78. M.O. Tokhi, Z. Mohamed and A.W.I. Hashim. Modelling of a flexible robot manipulator using finite element methods: a symbolic approach, Journal of Low Frequency Noise, Vibration and Active Control, 18(2), 1999, 63-76. https://doi.org/10.1177/026309239901800203

79. Z. Mohamed, M.N. Ahmad, M.Z. Zain and A.W.I.  Hashim. Modelling of a single-link flexible manipulator system by the finite element method, Elektrika: Journal of Electrical Engineering, 1, 1998, 76-80.

80. M.O. Tokhi, Z. Mohamed and A.K.M. Azad. Finite difference and finite element approaches to dynamic modelling of a flexible manipulator, Proceedings of IMechE-I: Journal of Systems and Control Engineering, 211(2), 1997, 145-156. https://doi.org/10.1243/0959651971539966

Book Chapter

1. M.O. Tokhi and Z. Mohamed. Command shaping vibration control of flexible robot manipulators, Recent Research Developments in Sound and Vibration, Transworld Research Network, Kerala (India), 2004, pp. 151-173, ISBN: 81-7895-119-3.

2. Z. Mohamed, M.O. Tokhi and H.R. Pota. Dynamic characterisation of flexible manipulators using symbolic manipulation, Flexible Robot Manipulators – Modelling, Simulation and Control, IET (UK), Eds. M.O. Tokhi and A.K.M. Azad, 2008, pp. 119-146, ISBN: 978-0-86341-448-0.

3. A.K.M. Azad, M.O. Tokhi, Z. Mohamed, S. Mahil and H. Poerwanto. Finite difference and finite element simulation of flexible manipulators, Flexible Robot Manipulators – Modelling, Simulation and Control, IET (UK), Eds. M.O. Tokhi and A.K.M. Azad,  2008, pp. 99-117, ISBN: 978-0-86341-448-0.

4. A.K.M. Azad, M.H. Shaheed, Z. Mohamed, M.O. Tokhi and H. Poerwanto. Open-loop control of flexible manipulators using command-generation techniques, Flexible Robot Manipulators – Modelling, Simulation and Control, IEE (UK), Eds. M.O. Tokhi and A.K.M. Azad, 2008, pp. 207-233, ISBN: 978-0-86341-448-0.

5. Z. Mohamed, N. Ahmad and A.W.I. Mohd Hashim, Input tracking and vibration control of a single-link flexible robot manipulator, Computational Intelligence, Control and Computer Vision in Robotics and Automation, Narosa Publication House, Ed. Bidyadhar Subudhi, 2009, pp. 217-228, ISBN: 9788173199530.

6. H.I. Jaafar, Z. Mohamed, L. Ramli, PSO-tuned PID for a nonlinear overhead crane system, Studies in Control and Automation Systems, UTM Press, Eds. F.S. Ismail and C.S. Lim, 2019.