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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Ahmad, Mohd Ashraf
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Safe Experimentation Dynamics Algorithm for Identification of Cupping Suction Based on the Nonlinear Hammerstein Model Suresh, Kavindran; Ghazali, Mohd Riduwan; Ahmad, Mohd Ashraf
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.18909

Abstract

The use of cupping therapy for various health benefits has increased in popularity recently. Potential advantages of cupping therapy include pain reduction, increased circulation, relaxation, and skin health. The increased blood flow makes it easier to supply nutrients and oxygen to the tissues, promoting healing. Nevertheless, the effectiveness of this technique greatly depends on the negative pressure's ability to create the desired suction effect on the skin. This research paper suggests a method to detect the cupping suction model by employing the Hammerstein model and utilizing the Safe Experimentation Dynamics (SED) algorithm. The problem is that the cupping suction system experiences pressure leaks and is difficult to control. Although, stabilizing the suction pressure and developing an effective controller requires an accurate model. The research contribution lies in utilizing the SED algorithm to tune the parameters of the Hammerstein model specifically for the cupping suction system and figure out the real system with a continuous-time transfer function. The experimental data collected for cupping therapy exhibited nonlinearity attributed to the complex dynamics of the system, presenting challenges in developing a Hammerstein model. This work used a nonlinear model to study the cupping suction system. Input and output data were collected from the differential pressure sensor for 20 minutes, sampling every 0.1 seconds. The single-agent method SED has limited exploration capabilities for finding optimum value but excels in exploitation. To address this limitation, incorporating initial values leads to improved performance and a better match with the real experimental observations. Experimentation was conducted to find the best model parameters for the desired suction pressure. The therapy can be administered with greater precision and efficacy by accurately identifying the suction pressure. Overall, this research represents a promising development in cupping therapy. In particular, it has been demonstrated that the proposed nonlinear Hammerstein models improve accuracy by 84.34% through the tuning SED algorithm.
Optimization of a Robust Sigmoid PID Controller for Automatic Voltage Regulation Using the Nonlinear Sine-Cosine Algorithm with Amplifier Feedback Dynamic Weighted (AFDW) System Ahmed, Islam; Suid, Mohd Helmi; Ahmad, Mohd Ashraf; Ahmad, Salmiah; Jusof, Mohd Falfazli Mat; Tumari, Zaidi Mohd
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.v5i3.1930

Abstract

The given paper presents a robust Sigmoid-based Proportional-Integral-Derivative (SPID) controller for Automatic Voltage Regulator (AVR) systems, optimized using the Nonlinear Sine Cosine Algorithm (NSCA) enhanced with the Amplifier Feedback Dynamic Weighted (AFDW) system. Conventional PID controllers are frequently struggling with parameter variations and external interruptions that lead to instability and reduced performances in AVR systems. The proposed SPID controller overcomes these limitations by incorporating nonlinear sigmoid functions, improving the AVR system's robustness and dynamic response. While the AFDW system improves stability and responsiveness by dynamically adjusting the feedback weight, the NSCA balances exploration and exploitation to optimize controller parameters. The primary contribution of the present research is an overview of the NSCA-SPID controller, which offers superior results in voltage regulation compared to traditional PID and other metaheuristic-tuned controllers, enhancement in settling time, elimination of overshoot, and improvement in steady-state error. Additionally, performance index and statistical performances are used to validate the proposed SPID controller. Simulation results demonstrate significant achievements that emphasize the effectiveness of the NSCA-SPID controller toward enhancing the AVR system stability and controller design’s performance under varying load conditions. Finally, the proposed NSCA-SPID controller provides a promising solution for Enhancing the regulation of voltage in power systems, providing Superior and efficient technique for practical applications.
Co-Authors Ahmad, Salmiah Ahmed, Islam Ghazali, Mohd Riduwan Jusof, Mohd Falfazli Mat Suid, Mohd Helmi Suresh, Kavindran Tumari, Zaidi Mohd