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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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Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles Putra, Misbah Habib; Agustinah, Trihastuti; Sahal, Mochammad
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 9, No 1 (2025): January
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v9i1.433

Abstract

A multi-robot system is a group of robots that coordinate and perform complex tasks with the help of a communication system. The commonly adapted approaches in multi-robot formation control include the leader-follower method, where the leading robot acts as the coordination center, and follower robots track the movement of the leading robot. Multi-robot formations are usually faced by static and dynamic obstacles in the operational environment. In this paper, the obstacle-avoidance challenge is tackled by adopting the concept of velocity obstacles in a way that enables the robots to efficiently consider not only the velocity of an obstacle but also its direction in order to avoid collision. The method is evaluated through several simulation scenarios in different environments. The simulation results show that the multi-robot formation version can successfully avoid static and dynamic obstacles and reform a formation right afterward from zero collisions.
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.
Modified Extremum Seeking Control for Target Tracking and Formation Control in Pursuit-Evasion Game Setiawan, Fachruddin Ari; Agustinah, Trihastuti; Fuad, Muhammad
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 6, No 2 (2022): October
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v6i2.320

Abstract

In a pursuit-evasion game, the mobile robot pursuer's ability to navigate from its initial position to the evader while maintaining a safe distance from other objects requires a good obstacle avoidance system. This study aims to perform target tracking in evader sieges and obstacle avoidance against other pursuer robots and static obstacles by proposing a modified extreme seeking controller (ESC). A modified backstepping control (BC) was used as an autopilot control for a nonholonomic mobile robot to execute the modified ESC command. The modified BC based on the modified ESC requires the positions of the targeted evader, pursuers, and obstacles. The pursuer uses this information to capture an evader by arranging the desired formation without colliding with static obstacles or other robots. The results of the simulations show that the pursuers successfully surround the evader and construct the formation without colliding with obstacles. The proposed method resulted in the closest distance of 2.071 m between the pursuers, 1.954 m between each pursuer and the evader, and 2.425 m between the pursuers and static obstacles.
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