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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Indonesian Journal of Science and Technology
Amjad J. Humaidi
University of Technology
Computer Science & IT Electrical & Electronics Engineering Environmental Science

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Journal : indonesian journal of science and technology

 1 
Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO Nasir Ahmed Alawad; Amjad J. Humaidi; Abdulkareem Sh. Mahdi Al-Obaidi; Ahmed Sabah Alaraji
Indonesian Journal of Science and Technology Vol 7, No 2 (2022): IJOST: VOLUME 7, ISSUE 2, September 2022
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v7i2.46435

Abstract

Wearable robots are commonly used for rehabilitation and they are made to fit the human body to assist persons who are unable to help themselves. The design of controllers became necessary to enhance the dynamic motion of these exoskeleton systems when worn by patients. In this study, active disturbance rejection control (ADRC) with reduced-order extended state observer (RESO) has been proposed for motion control of exoskeleton knee-assisting device to eliminate the phase lag induced by full-order extended state observer (FESO). The design analysis of RESO-based ADRC has been presented and a computer simulation has been conducted to verify the effectiveness of the proposed controller. A comparison study has been made between ADRC based on RESO and that based on FESO in terms of transient and robustness characteristics. The simulated results showed that the RESO-based ADRC gives better transient and load rejection capabilities compared to the controller with FESO.
Finite-Time Control of Wing-Rock Motion for Delta Wing Aircraft Based on Whale-Optimization Algorithm Arif A. Al-Qassar; Abdulkareem Sh. Mahdi Al-Obaidi; Alaq F. Hasan; Amjad J. Humaidi; Ahmed R. Nasser; Ahmed Alkhayyat; Ibraheem Kasim Ibraheem
Indonesian Journal of Science and Technology Vol 6, No 3 (2021): IJOST: VOLUME 6, ISSUE 3, December 2021
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v6i3.37922

Abstract

The rise of wing-rock motion in delta-wing aircraft has an adverse effect on the manoeuvrability of aircraft and it may result in its crash. This study presents a finite-time control design to tackle the dynamic motion due to the Wing-Rock effect in delta-wing aircraft. The control design is developed based on the methodology of Super Twisting Sliding Mode Control (STSMC). The Lyapunov stability analysis has been pursued to ensure asymptotic convergence of errors and to determine the finite time. The design of STSMC leads to the appearance of design parameters, which have a direct impact on the dynamic performance of the controlled system. To avoid the conventional tuning of these parameters and to have an optimal performance of the proposed controller, a modern optimization technique has been proposed based on Wale Optimization Algorithm. A comparison study between optimal and non-optimal finite-time super twisting sliding mode controllers has been established and their effectiveness has been verified via numerical simulation using MATLAB programming format.
Embedded Design and Implementation of Mobile Robot for Surveillance Applications Abdulkareem Sh. Mahdi Al-Obaidi; Arif Al-Qassar; Ahmed R. Nasser; Ahmed Alkhayyat; Amjad J. Humaidi; Ibraheem K. Ibraheem
Indonesian Journal of Science and Technology Vol 6, No 2 (2021): IJOST: VOLUME 6, ISSUE 2, September 2021
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v6i2.36275

Abstract

The surveillance and security of areas such as home, laboratory, office, factory, and airports, are important to prevent any threatening to human lives. Mobile robots are proven their effectiveness in a large number of applications, especially in hazardous areas where they can be remotely controlled by humans to accomplish certain tasks. This research paper presents a design and implementation of a mobile robot for surveillance and security applications. The main objective of the design is to lower the cost and the power consumption of the mobile robot which accomplish using low-cost open-source hardware such as Arduino and Raspberry Pi. The robot is connected wirelessly via a low-power ZigBee module to the control station to allow the operator for controlling the mobile robot motions and monitoring the physical events in the environment where the robot is used.  Sensors such as camera, temperature, and range are embedded in the robot to sense and monitor human motion, the room temperature, and the distance of the surrounding obstacles. The testing of the implemented mobile robot shows that it can run continuously for approximately 6.5 hours at a motor shaft speed 25 rpm of unlit the need to recharge the battery.
Co-Authors Abdulkareem Sh. Mahdi Al-Obaidi Abdulrahim Thiab Humod Ahmed Alkhayyat Ahmed R. Ajel Ahmed R. Nasser Ahmed Sabah Alaraji Alaq F. Hasan Arif A. Al-Qassar Arif Al-Qassar Hayder Yousif Abed Ibraheem K. Ibraheem Ibraheem Kasim Ibraheem Mohammed Abdulraheem Fadhel Nasir Ahmed Alawad