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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 : International Journal of Robotics and Control Systems

 1 
Synergetic Control-Based Sea Lion Optimization Approach for Position Tracking Control of Ball and Beam System Al-Khazraji, Huthaifa; Albadri, Kareem; Almajeez, Rawaa; Humaidi, Amjad J
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1551

Abstract

One of the most difficult systems to control is the ball and beam (BnB) system due to its under-actuation, instability, and nonlinearity. To address these challenges, this paper presents an application of using the nonlinear synergetic control (SC) algorithm for position tracking control of the BnB system. A swarm optimization method based on sea lion optimization (SLO) has also been used to achieve an optimum dynamic performance by adjusting the suggested controller’s parameter. The Integral Time of Absolute Errors (ITAE) is employed by the SLO as an objective function to adjust the design parameters of the suggested SC. Using MATLAB software, a comparison has been made between the SC controller and the classical state feedback controller (SFC) to test the effectiveness of the suggested control algorithm. The findings illustrate that the suggested SC offers better transient response in terms of reducing the settling time and the overshoot than SFC. The effect of the external disturbance has also been examined. It has been found that SC provides more robustness performance than SFC.
Optimized Vector Control Using Swarm Bipolar Algorithm for Five-Level PWM Inverter-Fed Three-Phase Induction Motor Yaseen, Farazdaq R.; Al-Khazraji, Huthaifa
International Journal of Robotics and Control Systems Vol 5, No 1 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i1.1713

Abstract

Induction motors (IMs) are commonly used in various applications such as robotics and automotive industries. This paper proposes an optimization of two proportional-integral (PI) controllers for a multi-level pulse width modulation (PWM) voltage-fed inverter linked to a three-phase IM. The paper aims to enhance inverter output quality, minimize harmonic distortion, and ensure robust, stable performance. The swarm bipolar algorithm (SBA) is introduced to elaborate the searching of the best settings of the PI controllers to achieve the desired response.  Harmonics lead to increased system losses by creating negative torque components. To address this problem, two modulation algorithms are proposed to generate three-phase voltage with minimum harmonics including space vector PWM (SVPWM) inverter and sinusoidal PWM (SPWM). Simulation results based on MATLAB/Simulink environment for various operation conditions such as sudden loads change and speed changes reveal that the proposed controller enhances the system's performance. Moreover, the five-level SVPWM inverter has a minimum threshold harmonic distortion (THD) compared to the five-level SPWM inverter where the THD is decreased from 40.24% for SPWM method to 13.67% for the SVPWM method.
Design of A Backstepping Control and Synergetic Control for An Interconnected Twin-Tanks System: A Comparative Study Al-Majeez, Rawaa; Al-Badri, Kareem; Al-Khazraji, Huthaifa; Ra'afat, Safanah M.
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1682

Abstract

This paper presents a comparative performance examination between designing backstepping control (BSC) and synergetic control (SC) for an interconnected twin-tanks system. The controller is used to maintain the liquid level in the tank at the desired value by manipulating the input flow rate. The nonlinear dynamics of the twin-tanks system is established first. Then, based on the nonlinear dynamics of the system, the control law of the BSC and the SC are developed. The two controllers cooperate with the grasshopper optimization algorithm (GOA) for further improvement of the control design performance by tuning the design parameters of each controller. GOA has strong searchability for optimal solution and it has been successfully used to solve several optimization problems in numerous fields. Finally, the performance and the significance of each controlled system for two case studies (normal operation and under external disturbance) are examined based on MATLAB software. The simulation data shows that the BSC gives better performance than the SC.
Active Disturbance Rejection Control for Unmanned Aerial Vehicle Marwan, Hakam; Humaidi, Amjad J.; Al-Khazraji, Huthaifa
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1829

Abstract

This paper presents the design and analysis of a roll motion control system for a vertical take-off and landing of unmanned aerial car (VTOL-UAV) during the hovering flight phase. Ensuring stability and disturbance rejection during hovering is a significant challenge for UAVs, as external disturbances can lead to instability. To address these challenges, this study proposes an Active Disturbance Rejection Control (ADRC) strategy to enhance the system's roll stability and disturbance rejection. The primary contribution is the development of an improved ADRC system by integrating different types of extended state observers (ESO) with a Nonlinear-Proportional-Derivative (NPD) controller. The paper evaluates three ESO types—Linear (LESO), Nonlinear (NESO), and Fractional Order (FOESO)—for system state estimation and disturbance compensation. By combining the best ESO with NPD controller, an enhanced ADRC system is formed and its performance is compared against a conventional Proportional-Integral-Derivative (PID) controller. Numerical simulations performed using MATLAB demonstrate that ADRC significantly improves roll stability and disturbance rejection under both disturbed and undisturbed conditions. The results indicate that the LESO provides the best estimation accuracy, leading to superior system robustness. The ADRC system with LESO outperforms the PID controller in all test cases, particularly in disturbance rejection and stability. The study concludes that ADRC with LESO is an effective solution for improving VTOL-UAV roll motion control during hovering providing a promising approach for future UAV applications in dynamic environments.
Improved of Sliding Mode Control for Maximum Power Point Tracking in Solar Photovoltaic Applications Under Varying Conditions Hassan, Alaq F.; Nawfal, Mohanad; Al-Khazraji, Huthaifa; Humaidi, Amjad J.
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.v5i3.1925

Abstract

The solar energy generation sector has received widespread interest compared to other types of sustainable energy generation. This is owing to its high efficiency and the availability of environmental factors essential to the operation of these systems in various parts of the world. However, increased the power extracted from these systems are a critical issue as their conversion efficiency is low. Therefore, a maximum power point tracking (MPPT) controller is necessary in a photovoltaic generation system (PV) for maximum power extraction. This study aims to explore the performance of the MPPT system that uses an improved sliding mode controller (SMC) to identify and track a maximum power point (MPP) of a PV system and compares it to synergetic algorithm control (SACT). To implementing this purpose, MATLAB/Simulink model of a stand-alone PV panel is developed. Then, the analysis of the performance efficiency of the PV system based on the proposed MPPT methods are implemented under varying environmental conditions. Being able to track the MPP perfectly in the case of a sudden change in environment conditions, the improved SMC is proven by the results to be superior in stabilizing the boost converter's operation, leading to enhanced PV system stability. This has led to a reduction in power losses and an increase in efficiency.
High Gain Observer Based Backstepping Control Design for Nonlinear Single-Axis Driven Systems Mahmod, Rawnaq A.; Kadhima, Russul A.; Nawfal, Mohanad; Al-Khazraji, Huthaifa
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.v5i3.1984

Abstract

In this paper, a backstepping (BS) control design approach is proposed for tracking angular position control problem of a single-input and single-output (SISO) nonlinear single-axis driven system. To implement proposed BS control, the states of the system should be available. To address this problem, a high gain observer (HGO) is introduced for estimating the states. The design parameters of the HGO based BS controller have been optimized using the circle search algorithm (CSA). Compare to other optimization algorithm, the CSA explores the search space in a circular trajectory which can enhance local exploitation. The CSA uses integral of absolute error (IAE) as the performance index for the tuning process. The effectiveness of the proposed controller is demonstrated through simulations. Firstly, for observer evaluation, simulation outcomes indicate that the HGO is capable to estimate the states of the system successfully. However, to evaluate the BS with other nonlinear controllers for tracking control problem, the synergetic (SG) control is proposed. The simulated data results based on IAE index revealed that the BS control has lower IAE value than the SG control where the value of the IAE of the system with the BS control is reduced by 19.4% in compares with the system with the SG control.
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.