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All Journal ELKHA : Jurnal Teknik Elektro J-Dinamika: Jurnal Pengabdian Kepada Masyarakat The Indonesian Journal of Computer Science
Alfathdyanto, Khairurizal
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Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering

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T-S Fuzzy Tracking Control Based on H∞ Performance with Output Feedback for Pendulum-Cart System Rosalinda, Hanny Megawati; Agustinah, Trihastuti; Alfathdyanto, Khairurizal
The Indonesian Journal of Computer Science Vol. 12 No. 2 (2023): The Indonesian Journal of Computer Science
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v12i2.3196

Abstract

In some practices, not all state variables are available because of limited or noisy measurements. Thus, via output feedback, an observer is used to estimate the unmeasured states. To apply linear controllers to the pendulum-cart system, the Takagi-Sugeno fuzzy model is utilized by linearizing the system in more than one operating point. The effect of disturbances on tracking performance is reduced to the prescribed attenuation level by H∞ performance. The stability of the whole closed-loop system is investigated using the Lyapunov function. Sufficient conditions are derived in terms of a set of Linear Matrix Inequality (LMI) to obtain the controller and observer gain. Simulation results show that the proposed control method can make the system track the sinusoidal reference signal, maintain stability, and attenuate the effect of disturbances to less than the prescribed attenuation level measured by L2 gain. In the implementation process, an adjustment is needed to move the observer’s pole and speed up the observer’s responses.
Pengembangan Sistem Sensor berbasis Tekanan Udara untuk Deteksi Kontak Kaki Robot Dwi Prasetyo, Wahyu Agung; Darmawan, Adytia; Dewanto, Raden Sanggar; Alfathdyanto, Khairurizal
The Indonesian Journal of Computer Science Vol. 14 No. 2 (2025): The Indonesian Journal of Computer Science
Publisher : AI Society & STMIK Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33022/ijcs.v14i2.4757

Abstract

Legged robot is preferred choice for travesing uneven terrain. Robot leg can be positioned dynamically to achieve better locmotion. Detection of the leg contact point became more of essential part for the unpredictable course. The common method by deploying resistive force sensor provides a binary condition of whether the leg has touches surface. This paper explores the possibility of implementing air pressure sensor on a sensor system to provide more information at robot leg contact point. Air pressure sensor can provide a more wide and continuous range of value that fluctuates along the contact rate of the leg. Verification of the study uses single leg part of dog-type quardruped. The sensor testing gave the output value with average error of 1,3%. The pressure sensor provides readings at around ± 40ms with maximum readable pressure of 1,5 kPa.
Implementasi Media Informasi Berbasis Running Text untuk Meningkatkan Efisiensi dan Efektivitas Penyampaian Informasi di Kelurahan Keputih Tamami, Ni'am; Cipta Ramadhan , Ibnu; Alfathdyanto, Khairurizal; Madyono, Madyono; Hermawan, Hendhi; Megawati Rosalinda, Hanny; Waya Rahmaning Gusti, Agrippina; Trisniani, Widita
J-Dinamika : Jurnal Pengabdian Masyarakat Vol 10 No 2 (2025): Agustus
Publisher : Politeknik Negeri Jember

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Abstract

Pengabdian Kepada Masyarakat ini bertujuan untuk mengembangkan dan mengimplementasikan media informasi berbasis running text di Kelurahan Keputih, yang dirancang untuk meningkatkan efisiensi penyampaian informasi kepada masyarakat. Kelurahan Keputih sebelumnya mengandalkan banner sebagai media penyampaian informasi yang kurang fleksibel dan memakan waktu dalam proses pembaruan. Alat running text yang dikembangkan mempermudah pembaruan informasi secara cepat dan efisien. Untuk mengevaluasi efektivitas alat, dilakukan survei kepuasan dengan kuisioner kepada 10 responden yang terdiri dari staf kelurahan dan masyarakat. Rata-rata keseluruhan dari semua pertanyaan dalam skala 1-10 adalah 8,56. Hasil survei menunjukkan bahwa alat ini dinilai sangat menarik, mudah digunakan, dan mampu mempercepat pembuatan konten pengumuman. Hasil ini menunjukkan bahwa alat running text berhasil memenuhi kebutuhan Kelurahan Keputih dalam menyampaikan informasi publik secara efisien.
Heading control for quadruped stair climbing based on PD controller for the KRSRI competition Alfathdyanto, Khairurizal; Darmawan, Adytia; Alasiry, Ali Husein; Taufik, Ahmad
ELKHA : Jurnal Teknik Elektro Vol. 15 No.2 October 2023
Publisher : Faculty of Engineering, Universitas Tanjungpura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26418/elkha.v15i2.70381

Abstract

Quadruped, a robot that resembles four-legged animals, is developed for many purposes, such as surveillance and rescue. Such a caveat requires the robot to have the capability to overcome various terrain and obstacles. When moving across such a landscape, it is essential to maintain the robot's orientation steadily. Inclined terrains such as stairs have posed another challenge to the control strategy as the robot is unstable while climbing. Therefore, the contribution of this work is to address the need for heading control because of the relatively longer stairs used for the current competition compared to the past. The proposed control system simultaneously maintains the heading while keeping the body stable. The inertial measurement unit sensor carried by the robot would provide the pose needed for heading control calculations. The robot's heading becomes the base for the PD controller calculation. The final pose that stabilizes the robot while tackling heading error is a combination of correction from the PD controller and the stabilization part of the control strategy. Then, the leg servo angle determination deployed the inverse kinematics calculation from the suitable robot pose. The proposed method enabled the designed robot to maintain its heading with a 4.4-degree margin of error and stabilize the body. The quadruped also completes the stair climbing at the shortest time of 20 seconds with a speed of up to 5.5 centimeters per second.
Co-Authors Ahmad Taufik Ali Husein Alasiry Cipta Ramadhan , Ibnu Darmawan, Adytia Dewanto, Raden Sanggar Dwi Prasetyo, Wahyu Agung Hendhi Hermawan Madyono, Madyono Megawati Rosalinda, Hanny Rosalinda, Hanny Megawati Tamami, Ni'am Trihastuti Agustinah Trisniani, Widita Waya Rahmaning Gusti, Agrippina