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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Humaidi, Amjad J.
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Application of Terminal Synergetic Control Based Water Strider Optimizer for Magnetic Bearing Systems Kadhim, Mina Q.; Yaseen, Farazdaq R.; Al-Khazraji, Huthaifa; Humaidi, Amjad J.
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23867

Abstract

Magnetic bearing (Magb) system is a modern and future electromagnetic device that has many advantages and applications. The open-loop dynamics of the Magb system has a nonlinear and unusable characteristic. In the present paper, a novel robust and advance terminal synergetic control (TSC) approach is developed to stabilize position of the Magb system. The controller is design based on the Magb model using the synergetic control associated with the terminal attractor method. The proposed control algorithm has the advantage of developing a control law which is continuous, chattering free, and allows for a more rapid system response. For further enhancement of the controller performance, a population-based algorithm named water strider optimizer (WSO) has been utilized to adjust the tunable coefficients of the control algorithm. In order to approve the ability and the performance of the proposed control approach, a simulation comparison results with the classic synergetic control (CSC) is conducted. Based on the simulation results, the TSC improves the settling time by 50% and the ITAE index by 45.3% as compared to the CSC. In addition, the recovery time under an external disturbance has been improved by 50% as compared to the CSC. These outcomes demonstrate that the proposed control algorithm allows for rapidly in the system response and more robustness.
Active Disturbance Rejection Control for Unmanned Aerial Vehicle Marwan, Hakam; Humaidi, Amjad J.; Al-Khazraji, Huthaifa
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1829

Abstract

This paper presents the design and analysis of a roll motion control system for a vertical take-off and landing of unmanned aerial car (VTOL-UAV) during the hovering flight phase. Ensuring stability and disturbance rejection during hovering is a significant challenge for UAVs, as external disturbances can lead to instability. To address these challenges, this study proposes an Active Disturbance Rejection Control (ADRC) strategy to enhance the system's roll stability and disturbance rejection. The primary contribution is the development of an improved ADRC system by integrating different types of extended state observers (ESO) with a Nonlinear-Proportional-Derivative (NPD) controller. The paper evaluates three ESO types—Linear (LESO), Nonlinear (NESO), and Fractional Order (FOESO)—for system state estimation and disturbance compensation. By combining the best ESO with NPD controller, an enhanced ADRC system is formed and its performance is compared against a conventional Proportional-Integral-Derivative (PID) controller. Numerical simulations performed using MATLAB demonstrate that ADRC significantly improves roll stability and disturbance rejection under both disturbed and undisturbed conditions. The results indicate that the LESO provides the best estimation accuracy, leading to superior system robustness. The ADRC system with LESO outperforms the PID controller in all test cases, particularly in disturbance rejection and stability. The study concludes that ADRC with LESO is an effective solution for improving VTOL-UAV roll motion control during hovering providing a promising approach for future UAV applications in dynamic environments.
Improved of Sliding Mode Control for Maximum Power Point Tracking in Solar Photovoltaic Applications Under Varying Conditions Hassan, Alaq F.; Nawfal, Mohanad; Al-Khazraji, Huthaifa; Humaidi, Amjad J.
International Journal of Robotics and Control Systems Vol 5, No 3 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i3.1925

Abstract

The solar energy generation sector has received widespread interest compared to other types of sustainable energy generation. This is owing to its high efficiency and the availability of environmental factors essential to the operation of these systems in various parts of the world. However, increased the power extracted from these systems are a critical issue as their conversion efficiency is low. Therefore, a maximum power point tracking (MPPT) controller is necessary in a photovoltaic generation system (PV) for maximum power extraction. This study aims to explore the performance of the MPPT system that uses an improved sliding mode controller (SMC) to identify and track a maximum power point (MPP) of a PV system and compares it to synergetic algorithm control (SACT). To implementing this purpose, MATLAB/Simulink model of a stand-alone PV panel is developed. Then, the analysis of the performance efficiency of the PV system based on the proposed MPPT methods are implemented under varying environmental conditions. Being able to track the MPP perfectly in the case of a sudden change in environment conditions, the improved SMC is proven by the results to be superior in stabilizing the boost converter's operation, leading to enhanced PV system stability. This has led to a reduction in power losses and an increase in efficiency.
Improved Tracking Accuracy of Par-4 Delta Parallel Robot Using Optimized FOPID Control with PSO Technique Mahdi, Shaymaa M.; Abdulkareem, Ahmed I.; Humaidi, Amjad J.
Journal of Robotics and Control (JRC) Vol. 6 No. 4 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i4.26607

Abstract

The Par-4 Delta parallel robot is an excellent choice for most pick-and-place applications. The parallel robot has complex and high nonlinearities and the choice of control design is one key to improving the tracking performance and accuracy of parallel robots. This study proposes two structures of proportional-derivative-integral (PID) controller. The first scheme utilized Integer-order setting of controller's terms, while the second structure used integral and derivative terms with fractional orders and it is termed as fractional-order PID (FOPID) controller. The terms of FOPID controller are synthesized based on fractional calculus theorem. It has been shown that FOPID controller has high efficacy when applied to complex and nonlinear systems. However, the tuning of its terms is a critical issue in its design. As such, an algorithm-based particle swarm optimization (PSO) has been developed to tune the parameters of FOPID controller such as to achieve global minimum of tracking errors Par-4 Delta parallel robot. The effectiveness of optimized FOPID controller has been verified via numerical simulation and it is compared to integer PID (IPID) controller with the same PSO algorithm. The computer simulations have showed that better tracking errors have been obtained with FOPID controller compared to its counterpart. Using the root mean square of error (RMSE) as the metric of evaluation, the numerical results showed that PSO-FOPID achieved 60% and 62.9% improvement in terms of tracking accuracy along both the x-axis and the z-axis, respectively, as compared to IOPID applied controller techniques.
Co-Authors Abdulkareem, Ahmed I. AL-Khazraji, Huthaifa Hassan, Alaq F. Kadhim, Mina Q. Mahdi, Shaymaa M. Marwan, Hakam Nawfal, Mohanad Yaseen, Farazdaq R.