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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) EMITTER International Journal of Engineering Technology
Eko Henfri Binugroho
Politeknik Elektronika Negeri Surabaya
Computer Science & IT Electrical & Electronics Engineering

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Fuzzy-PID controller for an energy efficient personal vehicle: Two-wheel electric skateboard Bambang Sumantri; Eko Henfri Binugroho; Ilham Mandala Putra; Rika Rokhana
International Journal of Electrical and Computer Engineering (IJECE) Vol 9, No 6: December 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (318.79 KB) | DOI: 10.11591/ijece.v9i6.pp5312-5320

Abstract

The two-wheeled electric skateboard (TWS) is designed for a personal vehicle. A Fuzzy-PID control strategy is designed and implemented for controlling its motion. Basically, motions control of the TWS is performed by balancing the pitch position of the TWS. Performance of the designed controller is demonstrated experimentally. The Fuzzy algorithm updates the PID gains and therefore it can handle the changing of the TWS load. Contribution of Fuzzy-PID in reducing the electric energy consumption, which is an important issue in electrical system, is also evaluated. The Fuzzy-PID successes to reduce the electric energy consumption of the TWS compared to the conventional PID.
Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis Syadza Atika Rahmah; Eko Henfri Binugroho; Raden Sanggar Dewanto; Dadet Pramadihanto
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 3: June 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i3.14781

Abstract

Remotely Operated Vehicle also known as ROV is a vehicle with high nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle. SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
Teen-Size Humanoid “FLoW” Complete Analytical Kinematics Luky Yanto; Raden Sanggar Dewanto; Dadet Pramadihanto; Eko Henfri Binugroho
EMITTER International Journal of Engineering Technology Vol 5 No 2 (2017)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (892.715 KB) | DOI: 10.24003/emitter.v5i2.233

Abstract

Humanoid research in Indonesia is quite a lot, but in reality only limited in kid-size proportional size, while for the Teen-Size is still rare. Research on the Teen-Size Humanoid robot requires more joints to be able to perform the movement compared to the size of Kid-Size, therefore required more complex modeling to determine the movement. With complete kinematics anlysis, the movement of the robot can be solved. With kinematic forward-invers, researchers can determine the movement of robots by controlling the motor parts that function as a joint on the robot. In this study, the modeling uses D-H parameter, because this modeling has been widely used, besides the calculation can be solved by computing. And then for the simulation can be done with V-REP software. Forward-invers kinematics can be implemented on the PID algorithm, in order to generate speed on the motor that can form an angle on the motor to make the movement. The result of this research is to obtain equation of matrix transformation from all body parts of robot. With the creation of this Humanoid Teen-Size robot, it is hoped that the research on Humanoid robot in Indonesia will be increasingly diverse and increasing, and can be used as a support and reference in the development of Humanoid Teen-Size next.
Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping Muhammad Ramadhan Hadi Setyawan; Raden Sanggar Dewanto; Bayu Sandi Marta; Eko Henfri Binugroho; Dadet Pramadihanto
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 1: February 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i1.pp288-298

Abstract

The robotic arm has functioned as an arm in the humanoid robot and is generally used to perform grasping tasks. Accordingly, kinematics modeling both forward and inverse kinematics is required to calculate the end-effector position in the cartesian space before performing grasping activities. This research presents the kinematics modeling of six degrees of freedom (6-DOF) robotic arm of the T-FLoW humanoid robot for the grasping mechanism of visual grasping systems on the robot operating system (ROS) platform and CoppeliaSim. Kinematic singularity is a common problem in the inverse kinematics model of robots, but. However, other problems are mechanical limitations and computational time. The work uses the homogeneous transformation matrix (HTM) based on the Euler system of the robot for the forward kinematics and demonstrates the capability of an improved damped least squares (I-DLS) method for the inverse kinematics. The I-DLS method was obtained by improving the original DLS method with the joint limits and clamping techniques. The I-DLS performs better than the original DLS during the experiments yet increases the calculation iteration by 10.95%, with a maximum error position between the end-effector and target positions in path planning of 0.1 cm.
Co-Authors Bambang Sumantri Dadet Pramadihanto Ilham Mandala Putra Luky Yanto Marta, Bayu Sandi Muhammad Ramadhan Hadi Setyawan Raden Sanggar Dewanto Rika Rokhana Syadza Atika Rahmah