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Khoudir Abed
Constantine 1 University

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Modeling and control of a solar-powered cable-driven robot under power constraints Kendouli Fairouz; Hemama Aboud; Khoudir Abed
Indonesian Journal of Electrical Engineering and Computer Science Vol 42, No 2: May 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v42.i2.pp318-336

Abstract

This paper investigates the control performance of a solar-powered cable driven robot using MATLAB simulations, comparing a conventional proportional–integral–derivative (PID) controller with a hybrid fuzzy PD controller. The study adopts a simplified kinematic model to focus on control behavior under cable-induced nonlinearities and time-varying power availability due to solar energy, while neglecting full dynamic and cable tension effects. Both controllers were systematically tuned to ensure a fair comparison. Performance was evaluated in terms of speed and position tracking under fluctuating solar conditions. Simulation results show that the hybrid fuzzy PD controller provides superior performance, with lower RMS tracking errors, reduced overshoot, and faster settling times compared to the PID controller. These findings highlight the potential of energy-aware intelligent control strategies for improving the reliability and accuracy of solar-powered cable-driven robots operating under variable renewable energy conditions.
Co-Authors Hemama Aboud Kendouli Fairouz