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All Journal Journal of Fuzzy Systems and Control (JFSC) Control Systems and Optimization Letters
Thi-Ngoc-Thao Nguyen
Ho Chi Minh City University of Technology and Engineering (HCM-UTE)
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Trajectory Tracking Controller Design for a One-degree-of-Freedom Robotic Arm using Fuzzy Logic and Neural Controllers Quang-Thien Nguyen; Anh-Huy Nguyen; Hoang-Linh Le; Hai-Thanh Nguyen; Thi-Hong-Lam Le; Ngoc-Hung Nguyen; Van-Hiep Nguyen; Thanh-Binh Nguyen; Thi-Ngoc-Thao Nguyen; Minh-Tam Nguyen; Phong-Luu Nguyen; Hoang-Lam Le; Son-Thanh Phung
Control Systems and Optimization Letters Vol 4, No 1 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v4i1.271

Abstract

The one-degree-of-freedom (1-DOF) robotic arm is a fundamental platform widely used in laboratories for teaching and evaluating position and trajectory control strategies. This paper presents the modeling, simulation, and experimental implementation of a 1-DOF robotic arm system using intelligent control approaches. A Fuzzy Logic Controller (FLC) and a neural network controller (NNC) based on a multi-layer perceptron (MLP) were designed and evaluated in MATLAB/Simulink and implemented in real time on an STM32F4 embedded hardware platform. Both controllers were tested under step and sinusoidal reference inputs, achieving tracking errors below 5°, settling times of approximately 0.1 s (within ±2%), and limited overshoot. Although the neural network successfully reproduced the general control behavior of the FLC, the fuzzy controller demonstrated slightly smoother responses and lower control effort under multi-level step conditions. A primary contribution of this work is the development and validation of a low-cost STM32F4G-based embedded platform for implementing and experimentally evaluating intelligent control algorithms, providing a practical and scalable solution for intelligent control research and laboratory education in universities.
PLC-Based Trajectory Control of an Omnidirectional Mecanum-Wheel AGV Using Visual–Inertial Tracking and Grid-Based A* Path Planning Binh-Hau Nguyen; Hang-Ri Nguyen; Phuoc-Duy Nguyen; Trung-Kien Pham; Dang-Khoa Tran; Quoc-Trung Nguyen; Tu-Duc Nguyen; Thi-Ngoc-Thao Nguyen; Thi-Ngoc-Hieu Phu; Hoang-Lam Le; Hoang-Phuc Le; Cong-Tan Bien
Control Systems and Optimization Letters Vol 4, No 2 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v4i2.318

Abstract

This paper presents a PLC-based omnidirectional Automated Guided Vehicle (AGV) using four Mecanum wheels for indoor material transportation. The system integrates a Mitsubishi Q-series PLC for motion execution, an Intel RealSense T265 visual–inertial camera for relative pose tracking, and a Python-based supervisory interface running on a laptop. The AGV operates in a known static workspace represented by a predefined grid map, where each cell corresponds to 0.1 m in the real environment. Static obstacles, pickup points, and drop-off points are manually defined before operation. The A* algorithm generates collision-free waypoint paths, which are converted into wheel velocity commands through the inverse kinematic model and transmitted to the PLC via Ethernet-based MC-Protocol. Experimental tests at a commanded speed of 0.2 m/s show that the prototype can perform eight-directional motion and complete predefined pickup–delivery tasks. The main limitations include tracking drift of the T265 camera, lighting sensitivity, wheel slippage on tiled floors, and communication latency. Future work will focus on sensor fusion, real-time obstacle detection, and fail-safe mechanisms.
Co-Authors Anh-Huy Nguyen Anh-Phong Nguyen Anh-Son Tran Ba-Thien Tran Binh-Hau Nguyen Binh-Hau Nguyen Chi-Phat Pham Cong-Tan Bien Dai-An Ly Dang-Khoa Dinh Dang-Khoa Tran Dinh-Binh Vo Dinh-Nguyen-Phuc Le Duc-Dat Nguyen Duong-Thuan Nguyen Hai-Nam Tran Hai-Thanh Nguyen Hang-Ri Nguyen Hoai-Bao-Nhan Nguyen Hoang-Dung Nguyen Hoang-Lam Le Hoang-Linh Le Hoang-Nguyen Nguyen Hoang-Phuc Le Hoang-Sang Luong Hoang-Thong Nguyen Hong-Nho Bui Hung-Ky Nguyen Hung-Thinh Bui Huu-Loc Dang Huu-Nhan Nguyen Huu-Nhan Tran Huynh-Anh-Tuan Pham Huynh-Duc Pham Huynh-Duc-Anh Nguyen Huynh-Khanh-Nam Pham Kieu-Vinh Nguyen Le-Huu-Tri Do Le-Minh-Kha Nguyen Le-Minh-Tan Nguyen Le-Nhat-Minh Nguyen Le-Thao-Nguyen Nguyen Manh-Dung Nguyen Minh-Nam Phan Minh-Tam Nguyen Minh-Tri Hoang Nam-Long Tran Ngoc-Hung Nguyen Ngoc-Long Le Ngoc-Son Vo Nguyen-Cong-Anh Tran Nguyen-Khang Bui Nguyen-Thanh-Loc Tran Nhat-Nam Nguyen Nhut-Nam Nguyen Pham-Minh-Trong Vo Phong-Luu Nguyen Phong-Nam Huynh Phuoc-Dat Tran Phuoc-Duy Nguyen Phuoc-Thinh Dang Quang Tran Quang-Khai Nguyen Quang-Thien Nguyen Quang-Thuan Le Quang-Tung Trinh Quoc-Khanh Tran Quoc-Thuan Nguyen Quoc-Trung Nguyen Son-Thanh Phung Tan-Huy Tran Tan-Loc Nguyen Tan-Phat Nguyen Thai-Duong Hoang Thai-Hiep Nguyen Thanh-An Cao Thanh-Binh Nguyen Thanh-Binh Phan Thanh-Sang Nguyen Thanh-Toan Nguyen Thanh-Tung Nguyen Thanh-Viet Ho The-An Nguyen The-Nhan Nguyen Thi-Hong-Lam Le Thi-Ngoc-Hieu Phu Thi-Ngoc-Tram Tran Thien-Bao Truong Thien-Quoc Dang Tien-Dat Nguyen Tran-Nhat Dang Tri-Bao Tran Trong-Bang Tran TrongBang Tran Trung-Kien Pham Trung-Son Huynh Truong-Nguyen Phan Truong-Phuong-Nam Pham Tu-Duc Nguyen Tuan-Minh Truong Van-Dong-Hai Nguyen Van-Duc Nguyen Van-Hiep Nguyen Van-Huy Le Van-Phuc Nguyen Van-Thao Nguyen Van-Tuan Nguyen Van-Tung Dau Vi-Cuong Hong Viet-Tien-Dung Bui Vo-Minh-Khoa Tran Xuan-Tien Nguyen