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Dr Muhammad Nasiruddin Mahyuddin

(Graduate member of IEM in Mechatronics: 35540)

PhD in Mechanical Engineering (Nonlinear Control and Robotics),
University of Bristol, United Kingdom.

M.Eng in Mechatronics and Automatic Control,
Universiti Teknologi Malaysia.

B.Eng in Mechatronics Engineering,
International Islamic University Malaysia.

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Tel:  +604-599 6099
Fax: +604-594 1023

photo dr muhammad nasiruddin mahyuddin


Nonlinear Adaptive Control, Distributed Control theory and its application to Mechatronics and Robotics System.

Biography and Research Interest

Dr. Muhammad Nasiruddin Mahyuddin is currently a Senior Lecturer at the School of Electrical and Electronics Engineering in Universiti Sains Malaysia, a top Research University in Malaysia. He is also an Honorary Visiting Fellow in the Department of Mechanical Engineering at University of Bristol. He received his PhD Doctorate (Mechanical Engineering specializing on Nonlinear Control) from University of Bristol, United Kingdom in 2014. There, he was a member of the Nonlinear Robotics Control Group (NRCG) at the Bristol Robotics Laboratory (BRL). He received his M.Eng with high distinction in Mechatronic and Automatic Control from the Universiti Teknologi Malaysia (UTM) in 2006 and obtained his B.Eng with Honours in Mechatronic Engineering from the International Islamic University of Malaysia (IIUM) in 2004. He was an Application Engineer at Agilent Technologies working with Motion Control product in 2004-2005.  He once also served as a tutor and graduate assistant in IIUM and UTM respectively.

He started his PhD in mid 2010 and was working on a Novel Adaptive Algorithm and its application to Estimation and Distributed Control in University of Bristol. He was formulating an adaptive algorithm with an attractive adaptive law which has finite-time stability and offers robust feature. The algorithm was formulated to control a single system and distributed/multi-agent system with the presence of nonlinearities. In his PhD, Lyapunov analysis was used to prove the algorithm stability in which for a chosen distributed case, network communication topology should be also considered. The adaptive law was then advanced to be incorporated as a distributed cooperative adaptive control algorithm to control two anthropomorphic robot arm of the Bristol Robotic Elumotion Robotic Torso II or BERT II. BERT II was equipped with CAN bus system for communication between embedded control system and all its actuators. During this time, he gained extensive experience and skills in dealing with Control Area Network (CAN) in particular CANopen which a type of communication protocol used in automotive system. He wrote CANopen communication protocol driver himself for the BERT II robotic system so that the formulated distributed control algorithm can be sent across all the robot’s actuators seamlessly without communication overheads or control saturation. He was also heavily involved in a research project partially funded by Jaguar Land Rover (JLR) during his early PhD. In this project, he successfully formulated, simulated and tested a novel estimation algorithm (based on the formulated adaptive law) to estimate road slope and vehicle mass (one of his novel PhD contribution) on a real small-scale electric vehicle which leads to the publication of his work in IEEE Transaction on Industrial Electronics. During his PhD study, he was appointed as a Senior Associate Teacher by University of Bristol via contract (part-time), teaching Nonlinear Control with Application to Robotics from October 2011 to July 2012. He was also partially involved as a student advisor to M.Eng students in Aelous Wind Turbine Race Competition. In the competition, an adaptive control was designed to control the wind turbine heading to capture the maximum wind energy for maximum power to drive an electric vehicle. He once appeared in BBC news in 2012 whilst demonstrating his PhD work on distributed synchronisation control of two humanoid arms during the UK Education Minister visit to his research bay in BRL.

He is a member of IEEE Control System Society(IEEE CSS), IEEE Industrial Electronics(IEEE IE) and IEEE Robotics and Automation Society(IEEE RAS). He is also a registered graduate member of Board of Engineers Malaysia (BEM) and Institute of Engineering Malaysia (IEM).

Now, he is working on formulating a distributed adaptive observer algorithm suited for a generic network of cooperative system of any kind. He is optimistic with prospective application of this algorithm to any kind of multi-agent and computer network system. His research interest encompasses nonlinear adaptive control, distributed control theory, mechatronics and network system.


Selected Publications

1.Muhammad Nasiruddin Mahyuddin, Jing Na, Guido Herrmann, Xuemei Ren, Phil Barber, “Adaptive Observer-based parameter estimation with application To Road Gradient and Vehicle Mass Estimation”, IEEE Transaction on Industrial Electronics. (Volume 61, No.6, pp. 2851-2863, June 2014) (http://DOI:10.1109/TIE.2013.2276020 ) ISI Impact Factor: 6.5

2.Muhammad Nasiruddin Mahyuddin, Said Khan, Guido Herrmann, “A Novel Robust Adaptive Control Algorithm with Finite-Time Online Parameter Estimation of a humanoid robot arm”, Robotic and Autonomous System (Elsevier).
  (Volume 62, Issue 3, pp. 294-305, March 2014) (http://DOI:10.1016/j.robot.2013.09.013) ISI Impact Factor: 1.462

3. Jing Na, Muhammad Nasiruddin Mahyuddin, Guido Herrmann, Xuemei Ren, Phil Barber, "Robust Adaptive Finite-Time Parameter Estimation and Control for Robotic Systems",  International Journal of Robust and Nonlinear Control, (In-press, September 2014). ( http://DOI: 10.1002/rnc.3247) ISI Impact Factor: 2.625

4. Muhammad Nasiruddin Mahyuddin, Mohd Rizal Arshad and Zaharuddin Mohamed, “Performance Evaluation of Direct Model Reference Adaptive Control on a Coupled-Tank Liquid Level Control System”, Elektrika, December 2008.

5. Surina Mat Suboh, Irfan Abd Rahman, Mohd Rizal Arshad, Muhammad Nasiruddin Mahyuddin, "Modelling and Control of 2 DOF Underwater Planar Manipulator", Indian Journal of Marine Sciences, September, 2009 . ISI Impact Factor: 0.563

6. Muhammad Nasiruddin Mahyuddin, Chan Zhi Wei, Mohd Rizal Arshad, “Neuro-fuzzy Algorithm for Obstacle Avoidance Mission of a Mobile Robot using FPGA”, M Journal of Basic and Applied Sciences, October, 2009.

7. Guido Herrmann, Jamaludin Jalani, Muhammad Nasiruddin Mahyuddin, Said G Khan and Chris Melhuish, "Robotic Hand Posture and COmpliant Grasping Control using Operational Space and integral sliding mode control", ROBOTICA, December 2014, pp.1-23, ([DOI%2010.1017/S0263574714002811]DOI 10.1017/S0263574714002811) . ISI Impact Factor: 1.059.

8.Muhammad Nasiruddin Mahyuddin, Guido Herrmann, “Distributed Motion Synchronisation Control of Humanoid Arms”,  Lecture notes(Book Chapter) in Computer Science, Springer Berlin / Heidelberg, Volume 376, pp. 21-35, 2013. (http://DOI:10.1007/978-3-642-40409-2_3)

9.Muhammad Nasiruddin Mahyuddin, Guido Herrmann, “Cooperative Robot Manipulator Control with human ‘pinning’ for robot assistive task execution.”, Lecture Notes(Book Chapter) in Computer Science, Springer Berlin / Heidelberg, Volume 8239, pp. 521-530, 2013.  
  ( http://DOI:10.1007/978-3-319-02675-6_52  )

10.Muhammad Nasiruddin Mahyuddin, Guido Herrmann, Said Ghani Khan, “A Novel Adaptive Control Algorithm in Application to a Humanoid Robot Arm”, Lecture Notes (Book Chapter) in Advances in Autonomous Robotics, Springer Berlin / Heidelberg, Volume 7429, pp. 25-36, 2012. ( http://DOI:10.1007/978-3-642-32527-4_3)

11.Muhammad Nasiruddin Mahyuddin, Guid Herrmann, Frank L. Lewis, “Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees”,  2013 IEEE International Conference on Decision and Control (CDC2013), Florence, Italy. 10th-13rd of December 2013., pp. 1496-1501.
  ( http://DOI:10.1109/CDC.2013.6760094 )

12.Muhammad Nasiruddin Mahyuddin, Guido Herrmann, Jing Na, Frank L. Lewis, “Finite-time adaptive distributed control for double integrator leader-agent synchronisation”, 2012 IEEE International Symposium on Intelligent Control (ISIC2012), volume , pp. 714 -720, 2012. Dubrovnik, Croatia. 3rd-5th of October 2012. ( http://DOI:/10.1109/ISIC.2012.6398274 )

13.Muhammad Nasiruddin Mahyuddin, Jing Na, Guido Herrmann, Xuemei Ren, Phil Barber, “An adaptive observer-based parameter estimation algorithm with application to road gradient and vehicle’s mass estimation,” 2012 UKACC International Conference on Control (CONTROL), volume ,pp. 102 -107, 2012. Cardiff, UK. 3rd-5th September 2012.
( http://DOI:10.1109/CONTROL.2012.6334614  ) (BEST PAPER AWARD Nominee)

14.Jing Na, Guido Herrmann, Xuemei Ren, Muhammad Nasiruddin Mahyuddin, P. Barber, “Robust adaptive finite-time parameter estimation and control of nonlinear systems,” 2011 IEEE International Symposium on Intelligent Control (ISIC2011), volume, pp. 1014 -1019, 2011. Denver, Colorado, USA.
( http://DOI:10.1109/ISIC.2011.6045402  )



1.A Formulation of Distributed Adaptive Observer Algorithm of Multi-Agent System with weak inter-agent communication to solve for specific Lyapunov function of Distributed Control System, KEMENTERIAN PENGAJIAN TINGGI-FUNDAMENTAL RESEARCH GRANT SCHEME (FRGS), RM 75,000, 1/7/2014-31/6/2017. (ACTIVE)

2. “Automated Test System for Automotive Instrument Panel”, CREST Industrial R&D Grant, 28/6/2016-28/6/2018, RM 184, 063.51 (ACTIVE). Industrial Collaborator: Continental Automotive Components Malaysia Sdn. Bhd.

3.Obstacle Avoidance and Path Planning of Intelligent Autonomous Robot using Neuro-Fuzzy Approach , USM JANGKA PENDEK , RM40,000.00, 1/8/2007-31/8/2009 (COMPLETED)

4.A Study of Direct Adaptive Control Algorithms: A Performance Investigation on a Manipulator , KEMENTERIAN PENGAJIAN TINGGI-FUNDAMENTAL RESEARCH GRANT SCHEME (FRGS) , RM60,000.00, 15/10/2007-15/10/2010. (COMPLETED).