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All Journal Transmisi: Jurnal Ilmiah Teknik Elektro Jurnal Teknik ITS IPTEK Journal of Proceedings Series Jurnal Ilmiah Kursor JAIS (Journal of Applied Intelligent System) Proceeding of the Electrical Engineering Computer Science and Informatics Explore IT : Jurnal Keilmuan dan Aplikasi Teknik Informatika JAREE (Journal on Advanced Research in Electrical Engineering) The Indonesian Journal of Computer Science
Trihastuti Agustinah
Institut Teknologi Sepuluh Nopember
Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Engineering

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Design of Tracking System and Disturbance Rejection using Neural Networks for Autonomous Underwater Vehicle (AUV) Abdul Muis Prasetia; Trihastuti Agustinah; Joko Susila
IPTEK Journal of Proceedings Series No 1 (2015): 1st International Seminar on Science and Technology (ISST) 2015
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23546026.y2015i1.1141

Abstract

Autonomous Underwater Vehicle (AUV) is under-actuated system with highly nonlinear dynamic and Multi Input Multi Output (MIMO). AUV has stability problem due to external disturbance. These characteristics cause the AUV is difficult to be controlled and to track the reference signal automatically. Based on these problems, this paper present tracking control design and disturbance rejection using Neural Networks for AUV with 6 Degree of Freedom (DOF). The proposed control system is used to generate control signals to overcome the nonlinear dynamics of AUV. The reference signal is processed using Line of Sight (LOS) method to obtain the desired yaw of AUV. Simulation results show that the AUV is able to track the reference signal even in the presence of ocean current disturbance.
Design Fuzzy Disturbance Observer with Neuro-Fuzzy Invers Model for Parallel Hybrid Electric Vehicle Speed Controller Yoga Alif Kurnia Utama; Trihastuti Agustinah; Josaphat Pramudijanto
IPTEK Journal of Proceedings Series No 1 (2015): 1st International Seminar on Science and Technology (ISST) 2015
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23546026.y2015i1.1051

Abstract

In this paper, fuzzy disturbance observer with neuro-fuzzy invers model is proposed to control speed of parallel hybrid electric vehicle (PHEV) with change in disturbance. Disturbance make unstable speed so that actual speed of PHEV is not equal to reference speed. Fuzzy disturbance observer is used to make actual speed of PHEV is equal to reference speed when disturbance applied on it. The result show that fuzzy disturbance observer can reject the disturbance so that so its speed has more stable .
Perancangan Prediktor Untuk Permasalahan Konsesus Dengan Delay Input Dan Komunikasi Dengan Menggunakan Graf Komplit Moh. Yasya Bahrul Ulum; Trihastuti Agustinah

Publisher : Program Studi Teknik Informatika, Fakultas Teknik, Universitas Yudharta Pasuruan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.35891/explorit.v14i1.2933

Abstract

Rancangan prediktor berbasis input delay (dengan bukti) dapat mengkompensasi efek dari delay komunikasi berupa osilasi dan adanya batas kestabilan pada permasalahan konsensus dengan delay input dan delay komunikasi. Penelitian ini bertujuan untuk mengetahui bagaimana efek penggunaan prediktor berbasis input delay ke sebuah permasalahan konsensus dengan delay. Metode yang digunakan dalam penelitian ini berdasarkan pada konsep partisi graf dapat menjadi beberapa graf yang komplit. Hasil penelitian didapatkan prediktor untuk mengkompensasi delay sepenuhnya menghilangkan efek dari delay (meniadakan komponen dengan delay) dengan cara memanipulasi graf agar menjadi graf komplit.
Obstacle Avoidance Using CTC and Virtual Structure for Leader-Follower Formation on Mobile Robot Maskhur Zulkarnain; Trihastuti Agustinah
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 5, No 2 (2021): October
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v5i2.204

Abstract

This research examined the development of the combination of virtual structure and leader-follower as an obstacle avoidance method in the formation control of a mobile robot. The formation of the robots are designed with the Separation Bearing Control (SBC) approach between the leader robot (RL) and the virtual robot (RV). The virtual robot is used as a virtual follower and a reference trajectory for the follower  robot (RF). When the follower robot detects an obstacle, the follower robot trajectory is adjusted using a trajectory planner for obstacle avoidance. After passing the obstacle, the follower robot will track its position back in formation using virtual robot position and heading as reference. Leader robot and follower are perturbed by disturbances. In order to ensure the achievement of small error tracking, a controller is designed using the integration of kinematic and dynamics controllers with disturbance observer. The kinematic and dynamics controllers are designed using input-output linearisation (IOL) method and computed torque control (CTC). The effectiveness of the proposed method is verified by the simulation result.Keywords: CTC, leader follower, obstacle avoidance, SBC, virtual structure. 
Formation Control of Multi-Robot using Virtual Structures with a Linear Algebra Approach Arfittariah Riah; Trihastuti Agustinah
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 4, No 1 (2020): April
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25796216.v4.i1.111

Abstract

The separation bearing controller (SBC) and separation-separation controller (SSC) approaches can be used to maintain multi-robot formation, while the Computed Torque Control (CTC) method is used to solve the dynamic problems of the robot. However, the SBC and SSC approaches combined with CTC cannot maintain multi-robot formation, if the leader or follower is disturbed. In this paper, the virtual structure method and the linear algebra approach added to the CTC method are used to maintain the triangular robot formation to follow the given trajectory. The simulation results show that the proposed control system design of multi-robots capable of following the trajectory and can maintain multi-robot formation with/without disturbance and noise.Keywords: computed torque control,  formation control, linear algebra, trajectory tracking, virtual structure. 
Trajectory Tracking with Input Constraint based on LMI Approach of a Nonholonomic Mobile Robot Auliya Nabila; Trihastuti Agustinah
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 5, No 1 (2021): April
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v5i1.193

Abstract

Nonholonomic Mobile Robot (NMR) is a mode of transportation that is widely used in industry. To achieve flexibility in carrying out its duties, an adequate control system is needed in transportation arrangements so that it is used as an object of research. The problem that is taken in this study is about tracking control for several reference trajectories with input constraint. To solve this problem two controllers were designed, kinematics controller and dynamics controller. Kinematics controller is designed so that the additional speed converges to the desired speed by adjusting the gain value. Dynamic controller is designed using  performance to overcome the input constraint and the Lyapunoc inequality is soleved by Linear Matric Inequalities (LMI) so the gain state-feedback can be obtained. Simulation results show that the designed controller is capable of tracking according to the reference trajectory with input constraint given.Keywords: ????∞ performance, input constraint, linear matrix inequalities, NMR.
OBSTACLE AVOIDANCE IN QUADCOPTER NAVIGATION USING MODIFIED LOCAL MEAN K-NEAREST CENTROID NEIGHBOR METHOD Hendy Prasetyo; Trihastuti Agustinah
Jurnal Ilmiah Kursor Vol 11 No 3 (2022)
Publisher : Universitas Trunojoyo Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21107/kursor.v11i3.267

Abstract

Quadcopter is a type of Unmanned Aerial Vehicle (UAV) technology, characterized by simple mechanical structure, ease of flying and good maneuvering. In its usage, the quadcopter is required to evade obstacles in its path. Thus, an obstacle avoidance system in a 3D space with both static and dynamic obstacles is. Avoidance direction is determined by considering nearest distance based on the dimensions of the obstacle. Due to limited battery capacity, the quadcopter also needs to consider energy efficiency in obstacle avoidance. The obstacle’s properties and movement direction are also needed in considering the correct avoidance direction. Using a modified Local Mean K-Nearest Centroid Neighbor (LMKNCN) algorithm results in a 97.5% accuracy for avoidance direction decision. The learning process between training data and testing data yielded a computation duration of 0.142341 seconds. The simulations showed that the quadcopter is able to avoid static and dynamic obstacles to reach its destination without collisions.
DESAIN KONTROL POWER SHARING MICROGRID PADA BEBAN NON-LINEAR Prestian Rindho Saputra; Trihastuti Agustinah; Ardyono Priyadi
Transmisi: Jurnal Ilmiah Teknik Elektro Vol 25, No 2 April (2023): TRANSMISI: Jurnal Ilmiah Teknik Elektro
Publisher : Departemen Teknik Elektro, Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14710/transmisi.25.2.64-74

Abstract

Penggunaan energi baru terbarukan diangap menjadi solusi dalam mencegah efek terburuk dari kenaikan suhu. Pemerintah Indonesia menargetkan pencapaian bauran energi nasional dari Energi Baru Terbarukan (EBT) sebesar 23 % pada tahun 2025. Untuk itu diperlukan penambahan kapasitas pembangkit yang berasal dari energi baru terbarukan (EBT). Sistem microgrid adalah sistem kelistrikan dengan sumber dan beban listrik terdesentralisasi yang biasanya beroperasi, terhubung dan sinkron dengan sistem kelistrikan lainnya. Modifikasi teknik power sharing saat pola operasi paralel memungkinkan tercapainya pemenuhan kebutuhan energi saat terjadi perubahan beban non-linear pada sistem kelistrikan. Adapun metode dalam pengumpulan hasil percobaan ini menggunakan dengan sistem pendekatan model sumber EBT dan beban yang dikombinasikan dengan tegangan dan arus. Hasil penelitian pada simulasi Matlab/Simulink dengan kombinasi desain kontrol power sharing dan sliding mode control (SMC) menunjukkan bahwa saat adanya penambahan beban non-linear, nilai frekuensi terendah sebesar 49.983 Hz pada beban seimbang dan 49.982 Hz pada beban tidak seimbang. Hasil yang didapatkan pada penelitian ini menunjukkan pada metode PI-LQR-SMC menunjukkan kinerja kontrol yang lebih baik daripada metode PI maupun PI-LQR.
DESAIN KONTROL NONLINIER UNTUK SISTEM HYBRID MICROGRID DENGAN SUMBER ENERGI PEMBANGKIT LISTRIK TENAGA SURYA Panji Setyo Suharso; Trihastuti Agustinah; Ardyono Priyadi
Transmisi: Jurnal Ilmiah Teknik Elektro Vol 25, No 3 Juli (2023): TRANSMISI: Jurnal Ilmiah Teknik Elektro
Publisher : Departemen Teknik Elektro, Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14710/transmisi.25.3.126-135

Abstract

Penelitian ini berfokus mendesain suatu sistem kontrol untuk menyelesaikan permasalahan nonlinear pada sistem suplai tenaga listrik melibatkan sumber PV (Photovoltaic) yang terhubung melalui microgrid ke sumber grid. Perubahan konsumsi beban pelanggan pada sistem suplai akan menggangu konsistensi tegangan dan frekuensi suplai. Makalah ini mengusulkan metode input-output linierization untuk desain sistem kontrol yang mampu menjaga nilai tegangan dan frekuensi pada nilai konstan. Modifikasi model nonlinear dari persamaan dinamika sistem microgrid dilakukan berdasarkan teori lie derivative, model persamaan nonlinear diturunkan sampai persamaan output mendapatkan nilai u (input control). Nilai u yang didapat dari modifikasi persamaan sistem tersebut digunakan untuk mendesain sistem kontrol, kemudian nilai u dengan menggunakan metode feedback linierization akan digunakan untuk mencari nilai gain yang sesuai namun sebelumnya dilakukan terlebih dahulu transformasi koordinat untuk mencari nilai matrix A dan B sehingga bentuk model nonlinear dapat ditransformasikan menjadi bentuk linier. Hasil modifikasi yang dilakukan menghasilkan sistem kontrol yang mampu mempertahankan suplai dengan parameter tegangan 238 V AC dan frekunsi 50 Hz (overshoot 6 %) sehingga kebutuhan daya pada sistem suplai tenaga listrik dapat terpenuhi.
Controlling a Quadcopter with Static Loads and Dynamic Wind Disturbances using a Fuzzy Inference System Azka, Aida; Santoso, Ari; Agustinah, Trihastuti
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 8, No 2 (2024): July
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v8i2.410

Abstract

Maneuverability, hover, and simple mechanical design are the advantages of quadcopters. However, because quadcopters are smaller and lighter, they are more susceptible to wind than manned aircraft. The winds that cause air accidents are divided into several categories, namely downburst, turbulent wind, wind shear, and wind vortices. Disturbances and uncertainties, such as wind gusts, can result in difficulties in executing a mission on an accurate flight path. Quadcopter resilience is an important topic for UAV. Especially if the quadcopter is in terrain that is difficult for humans to reach. Hence, the system is susceptible and experiences reduced stability. Controlling a quadcopter with a cube-shaped static load to withstand turbulent wind gusts in this research uses robust Fuzzy Inference System control and trajectory control using LQR with Command-Generator Tracking. The results achieved through fuzzy control can fortify the quadcopter against half of the overall turbulent wind gusts with an RMSE of 0.0546. In contrast with the LQR-CGT control, which still exhibits an RMSE of 0.0795.
Co-Authors Abdul Muis Prasetia, Abdul Muis Achmad Jazidie Adenia Rahma Putri Agus Lesmana Alfathdyanto, Khairurizal Ardyono Priyadi Arfittariah Riah Ari Santoso Auliya Nabila Azka, Aida Dariska Kukuh Wahyudianto Devina Rahmawati Dimas Bintang Pamungkas Dinang Sohendri Duli Ridlo Istriantono Fatoni, Ali Hanny Megawati Rosalinda Helvin Indrawati Hendy Prasetyo Ikhsan Eka Prasetia Ilmi Rizki I Jimmy Hennyta Satya Putra Joko susila Josaphat Pramudijanto Katherin Indriawati Khairurizal Alfathdyanto Maskhur Zulkarnain Moch - Hafid Moh. Yasya Bahrul Ulum Muhammad Fuad Nani Nur'aini Awab Putri Niora Fatimah Tanzania Panji Setyo Suharso Prestian Rindho Saputra Putra, Misbah Habib Renditia Rachman Rizki Wijayanti Wijayanti Rosalinda, Hanny Megawati Rosita Melindawati Rusdhianto Effendi AK Sahal, Mochammad Setiawan, Fachruddin Ari Swadexi Istiqphara, Swadexi Syfa Almira Yoga Alif Kurnia Utama