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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics
Hamzah Ahmad
Universiti Malaysia Pahang
Computer Science & IT Electrical & Electronics Engineering

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A Solution to Partial Observability in Extended Kalman Filter Mobile Robot Navigation Hamzah Ahmad; Nur Aqilah Othman; Mohd Syakirin Ramli
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 1: February 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v16i1.9025

Abstract

Partial observability in EKF based mobile robot navigation is investigated in this paper to find a solution that can prevent erroneous estimation. By only considering certain landmarks in an environment, the computational cost in mobile robot can be reduced but with an increase of uncertainties to the system. This is known as suboptimal condition of the system. Fuzzy Logic technique is proposed to ensure that the estimation achieved desired performance even though some of the landmarks were excluded for references. The Fuzzy Logic is applied to the measurement innovation of Kalman Filter to correct the positions of both mobile robot and any observed landmarks during observations. The simulation results shown that the proposed method is capable to secure reliable estimation results even a number of landmarks being excluded from Kalman Filter update process in both Gaussian and non-Gaussian noise conditions.
Kalman Filter Estimation of Impedance Parameters for Medium Transmission Line Siti Nur Aishah Mohd Amin; Hamzah Ahmad; Mohd Rusllim Mohamed; Mohd Mawardi Saari; Omar Aliman
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 2: April 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v16i2.9026

Abstract

Accurate knowledge of impedance parameters in transmission line helps to improve the system efficiency and performance. Nowadays, the estimation of impedance parameters in transmission line has become possible with the availability of computational method. This paper aims to develop Kalman filter model by using Matlab simulink to estimate accurate values of resistance (R), reactance (X), and susceptance (B) in medium transmission line. The accuracy of the parameters can be improved by reducing the unknown errors in the system. To demonstrate the effectiveness of the Kalman filter method, a case study of simulated medium transmission line is presented and comparison between Kalman Filter (KF) and Linear Least Square (LLS) method is also considered to evaluate their performances.
FRIT-based integral action state feedback controller tuning using PSO for a liquid slosh suppression system Nurul Najihah Zulkifli; Mohd Syakirin Ramli; Hamzah Ahmad; Addie Irawan
Bulletin of Electrical Engineering and Informatics Vol 11, No 3: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v11i3.3262

Abstract

This paper presents a model-free approach of controller tuning to a liquid slosh suppression system. The sloshing is the usual occurrence happening to the liquid in a moving container. An integral action state feedback controller was proposed as the selected control structure. A fictitious reference signal was formulated using the recorded input-output data generated from a one-shot experiment and later be used to design the appropriate performance index. The minimization of the performance index of the controlled system was achieved by employing the PSO algorithm. Numerical analyses using MATLAB software have been conducted to evaluate the effectiveness of the proposed model-free approach. The results manifested that the tuned controller had exhibited good transient response performance regarding the trajectory tracking of the cart motion and reduction of slosh level motion.
Co-Authors Addie Irawan Mohd Mawardi Saari Mohd Rusllim Mohamed Mohd Syakirin Ramli Nur Aqilah Othman Nurul Najihah Zulkifli Omar Aliman Siti Nur Aishah Mohd Amin