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All Journal International Journal of Electrical and Computer Engineering Journal of Robotics and Control (JRC)
Widjiantoro, Bambang L.
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Non-Linear Estimation using the Weighted Average Consensus-Based Unscented Filtering for Various Vehicles Dynamics towards Autonomous Sensorless Design Widjiantoro, Bambang L.; Wafi, Moh Kamalul; Indriawati, Katherin
Journal of Robotics and Control (JRC) Vol 4, No 1 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i1.16164

Abstract

The concerns to autonomous vehicles have been becoming more intriguing in coping with the more environmentally dynamics non-linear systems under some constraints and disturbances. These vehicles connect not only to the self-instruments yet to the neighborhoods components, making the diverse interconnected communications which should be handled locally to ease the computation and to fasten the decision. To deal with those interconnected networks, the distributed estimation to reach the untouched states, pursuing sensorless design, is approached, initiated by the construction of the modified pseudo measurement which, due to approximation, led to the weighted average consensus calculation within unscented filtering along with the bounded estimation errors. Moreover, the tested vehicles are also associated to certain robust control scenarios subject to noise and disturbance with some stability analysis to ensure the usage of the proposed estimation algorithm. The numerical instances are presented along with the performances of the control and estimation method. The results affirms the effectiveness of the method with limited error deviation compared to the other centralized and distributed filtering. Beyond these, the further research would be the directed sensorless design and fault-tolerant learning control subject to faults to negate the failures.
Model reference adaptive control of networked systems with state and input delays Wafi, Moh Kamalul; Indriawati, Katherin; Widjiantoro, Bambang L.
International Journal of Electrical and Computer Engineering (IJECE) Vol 14, No 5: October 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v14i5.pp5055-5063

Abstract

Adaptive control strategies have been developed in response to more advanced complex systems and to deal with uncertain systems while maintaining the desired conditions. This paper addresses the networked unknown and unstable heterogeneous systems following a stable reference (leader), which is related to network synchronization. We deliver two different scenarios; each agent both fully communicates to the leader and shares communication among neighborhood agents and the leader. The communication among agents and the leader are weighted using Laplacian-like matrix and the model weight matrix in turn. Also, the state and input delays are induced to the systems to capture the real limited communication while the prediction of the reference signals and the augmented systems are proposed to deal with them. Moreover, the rigorous mathematical foundations of two adaptive laws, the stability analysis, the threshold of network, and the communication network are thoroughly presented. Also, the numerical illustrations of the two scenarios are given to show the effectiveness of the proposed method in the networked system. The results show that for both scenarios working on the required setting, the perfect tracking to the leader is guaranteed. Beyond that, the future research would implement the distributed adaptive control-oriented learning of networked system under some faults.
Co-Authors Katherin Indriawati Wafi, Moh Kamalul