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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
AL-Khazraji, Huthaifa
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

 1 
Synergetic Control Design Based Sparrow Search Optimization for Tracking Control of Driven-Pendulum System Al-Khazraji, Huthaifa; Al-Badri, Kareem; Al-Majeez, Rawaa; Humaidi, Amjad J
Journal of Robotics and Control (JRC) Vol 5, No 5 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i5.22893

Abstract

This study investigates the performance of designing a Synergetic Control (SC) approach for angular position tracking control of driven-pendulum systems. SC is one of the popular nonlinear control techniques that contributed in a variety of control design applications. This research shows a unique application of the SC for angular position tracking control of driven-pendulum systems. Initially, the equations of motion of the system are developed. Subsequently, the control law of the SC is established. For the stability analysis of the closed loop control system, the Lyapunov Function (L.F) is used. To guarantee optimal performance, a Sparrow Search Optimization (SSO) based approach is presented in order to search for the optimum designing parameters of the controller. For performance comparison, the classical Sliding Mode Control (SMC) is introduced. The simulation's outcomes of the study have been confirmed that the proposed control algorithm is addressed the tracking problem of the angular position of the system successfully. Besides, when an external disturbance is inherited in the simulation, the SC exhibits a robustness performance. Moreover, the performance of the SC is slightly similar as SMC. However, the distinct difference in the performance is that the control signal of the SMC exhibits chattering problem, while this phenomenon is absent in the SC. All computer simulations are carried out using MATLAB software.
Synergetic Control Design Based Sparrow Search Optimization for Tracking Control of Driven-Pendulum System Al-Khazraji, Huthaifa; Al-Badri, Kareem; Al-Majeez, Rawaa; Humaidi, Amjad J
Journal of Robotics and Control (JRC) Vol. 5 No. 5 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i5.22893

Abstract

This study investigates the performance of designing a Synergetic Control (SC) approach for angular position tracking control of driven-pendulum systems. SC is one of the popular nonlinear control techniques that contributed in a variety of control design applications. This research shows a unique application of the SC for angular position tracking control of driven-pendulum systems. Initially, the equations of motion of the system are developed. Subsequently, the control law of the SC is established. For the stability analysis of the closed loop control system, the Lyapunov Function (L.F) is used. To guarantee optimal performance, a Sparrow Search Optimization (SSO) based approach is presented in order to search for the optimum designing parameters of the controller. For performance comparison, the classical Sliding Mode Control (SMC) is introduced. The simulation's outcomes of the study have been confirmed that the proposed control algorithm is addressed the tracking problem of the angular position of the system successfully. Besides, when an external disturbance is inherited in the simulation, the SC exhibits a robustness performance. Moreover, the performance of the SC is slightly similar as SMC. However, the distinct difference in the performance is that the control signal of the SMC exhibits chattering problem, while this phenomenon is absent in the SC. All computer simulations are carried out using MATLAB software.
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.
Optimal Backstepping and Feedback Linearization Controllers Design for Tracking Control of Magnetic Levitation System: A Comparative Study Al-Ani, Fatin R.; Lutfy, Omar F.; Al-Khazraji, Huthaifa
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.v5i6.24073

Abstract

In this paper, the stabilization and trajectory tracking of the magnetic levitation (Maglev) system using optimal nonlinear controllers are considered. Firstly, the overall structure and physical principle represented by the nonlinear differential equations of the Maglev system are established. Then, two nonlinear controllers, including backstepping control (BSC) and feedback linearization (FL), are proposed to force the position of the ball in the Maglev system to track a desired trajectory. In terms of designing the control law of the BSC, the Lyapunov function is utilized to guarantee an exponential convergence of the tracking error to zero. For developing the control law of the FL, an equivalent transformation to convert the nonlinear system into a linear form is used, and then, the state feedback controller (SFC) method is utilized to track the ball to the desired position. In order to obtain a higher accuracy in motion control of the ball, the gains’ selection for the controllers to reach the desired response is achieved using the swarm bipolar algorithm (SBA) based on the integral time absolute error (ITAE) cost function. Computer simulations are conducted to evaluate the performance of the proposed methodology, and the results prove that the proposed control strategy is effective not only in stabilizing the ball but also in rejecting the disturbance present in the system. However, the BSC exhibits better performance than that of the FL-SFC in terms of reducing the ITAE index and improving the transit response even when the external disturbance is applied. The numerical results show that the settling time reduced to 0.2 seconds compared to 1.2 seconds for FL-SFC. Moreover, the ITAE index is reduced to 0.0164 compared to 0.2827 seconds for FL-SFC. In the context of external disturbance, the findings demonstrate that BSC reduced the recovery time to 0.05 seconds compared to 0.65 seconds for FL-SFC.
Optimal Synergetic and Feedback Linearization Controllers Design for Magnetic Levitation Systems: A Comparative Study Al-Ani, Fatin R.; Lutfy, Omar F.; Al-Khazraji, Huthaifa
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i1.24452

Abstract

In this paper, the stabilization and trajectory tracking of the magnetic levitation (Maglev) system using optimal nonlinear controllers are investigated. Firstly, the overall structure and physical principle represented by the nonlinear differential equations of the Maglev system are established. Then, two nonlinear controllers, namely synergetic control (SC) and feedback linearization based state feedback controller (FL-SFC), are proposed to force the ball's position using the voltage control input in the Maglev system to track a desired trajectory. For the SC design, the Lyapunov function is employed to guarantee an exponential convergence of the tracking error to zero. In the FL-SFC approach, an equivalent transformation is used to convert the nonlinear system into a linear form, and then the state feedback controller (SFC) method is utilized to track the ball to the desired position. The swarm bipolar algorithm (SBA) based on the integral time absolute error (ITAE) cost function is employed to determine the gains of the controllers to achieve the desired response. Computer simulations are conducted to evaluate the performance of the proposed methodology. The results indicate that in normal conditions, the SC controller is more effective than the FL-SFC controller in controlling the Maglev system. Both controllers achieve zero maximum overshoot and zero steady-state error, but SC responds faster, with a settling time of 0.35 seconds compared to FL-SFC's 1.2 seconds. This highlights SC's superior dynamic performance in speed and accuracy. Additionally, when the Maglev system experiences external disturbances, SC shows better resilience, recovering in just 0.1 seconds, while FL-SFC takes 0.65 seconds. The SC exhibits better performance than that of the FL-SFC in terms of reducing the ITAE index and improving the transient response, even when external disturbances are applied.
Co-Authors Al-Ani, Fatin R. Al-Badri, Kareem Al-Majeez, Rawaa Albadri, Kareem Almajeez, Rawaa Hassan, Alaq F. Humaidi, Amjad J Humaidi, Amjad J. Kadhim, Mina Q. Kadhima, Russul A. Lutfy, Omar F. Mahmod, Rawnaq A. Marwan, Hakam Nawfal, Mohanad Ra'afat, Safanah M. Yaseen, Farazdaq R.