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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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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.
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.
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.
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.
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.
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.