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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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Journal : The Indonesian Journal of Computer Science

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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.
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