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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA)
Abdulrahman A.A. Emhemed
Universiti Teknologi Malaysia
Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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Modified Predictive Control for a Class of Electro-Hydraulic Actuator Abdulrahman A.A. Emhemed; Rosbi Bin Mamat; Ahmad ‘Athif Mohd Faudzi; Mohd Ridzuan Johary; Khairuddin Osman
International Journal of Electrical and Computer Engineering (IJECE) Vol 6, No 2: April 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (595.419 KB) | DOI: 10.11591/ijece.v6i2.pp630-638

Abstract

Many model predictive control (MPC) algorithms have been proposed in the literature depending on the conditionality of the system matrix and the tuning control parameters. A modified predictive control method is proposed in this paper. The modified predictive method is based on the control matrix formulation combined with optimized move suppression coefficient. Poor dynamics and high nonlinearities are parts of the difficulties in the control of the Electro-Hydraulic Actuator (EHA) functions, which make the proposed matrix an attractive solution. The developed controller is designed based on simulation model of a position control EHA to reduce the overshoot of the system and to achieve better and smoother tracking. The performance of the designed controller achieved quick response and accurate behavior of the tracking compared to the previous study.
Investigation In Two Wheels Mobile Robot Movement: Stability and Motion Paths Abdulrahman A.A. Emhemed
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 2: June 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (245.69 KB) | DOI: 10.11591/ijra.v2i2.pp45-49

Abstract

This paper deals with the problem of dynamic modelling of inspection robot two wheels. Fuzzy controller based on robotics techniques for optimize of an inspection stability. The target is to enhancement of robot direction and avoids the obstacles. To find collision free area, distance-sensors such as ultra-sonic sensors and laser scanners or vision systems are usually employed. The distance-sensors offer only distance information between mobile robots and obstacles. Also the target are shown can be reached by different directions. The fuzzy logic controller is effect to avoid the abstacles and get ideal direction to “the target box”.
Co-Authors Ahmad ‘Athif Mohd Faudzi Khairuddin Osman Mohd Ridzuan Johary Rosbi Bin Mamat