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All Journal International Journal of Electrical and Computer Engineering Indonesian Journal of Science and Technology
Djati Wibowo Djamari
Sampoerna University
Computer Science & IT Electrical & Electronics Engineering Environmental Science

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Formation control of non-identical multi-agent systems Djati Wibowo Djamari; Muhamad Rausyan Fikri; Bentang Arief Budiman; Farid Triawan
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 3: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i3.pp2721-2732

Abstract

The problem considered in this work is formation control for non-identical linear multi-agent systems (MASs) under a time-varying communication network. The size of the formation is scalable via a scaling factor determined by a leader agent. Past works on scalable formation are limited to identical agents under a fixed communication network. In addition, the formation scaling variable is updated under a leader-follower network. Differently, this work considers a leaderless undirected network in addition to a leader-follower network to update the formation scaling variable. The control law to achieve scalable formation is based on the internal model principle and consensus algorithm. A biased reference output, updated in a distributed manner, is introduced such that each agent tracks a different reference output. Numerical examples show the effectiveness of the proposed method.
Investigation of Compressive Behavior of Pre-folded Thin-walled Column Fabricated by 3D Printing Farid Triawan; Elin Rachmawati; Bentang Arief Budiman; Djati Wibowo Djamari; Andy Saputro; Ilman Arpi
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.v6i3.39138

Abstract

This paper reveals the mechanical behavior of thin-walled columns with pre-folded patterns subjected to compressive loading. The column specimens (Polylactic Acid) are fabricated using Fused Deposition Modeling 3D printer and subjected to quasi-static compressive loading to investigate their mechanical behavior (by modifying the specimens' cross-section patterns and folding angles). The column specimens are simulated by finite element analysis to understand how the stress distribution and local deformation affecting the stiffness, strength, and overall deformation. The experiments showed that introducing the pre-folded pattern in a thin-walled column with different cross-sections can dramatically lower its structural stiffness (85%) and compressive strength (69%), but increase its deformability (115%), which is good agreement with numerical simulation. The variation of cross-section patterns and pre-folding angle could effectively modify the compressive mechanical behavior. Moreover, the results demonstrate how the FDM 3D Printing method can be used in fabricating a thin-walled column with irregular shapes and then to modify its deformability. This finding can be useful for designing any complex structures requiring specific stiffness and deformation such as suspension devices, prosthetic devices in biomechanics, and robotic structures.
Co-Authors Andy Saputro Bentang Arief Budiman Elin Rachmawati Ilman Arpi Muhamad Rausyan Fikri Triawan, Farid