Article Per Year (5 Year)
p-Index From 2021 - 2026
1.683
P-Index
This Author published in this journals
All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Jurnal Pengabdian kepada Masyarakat Nusantara Internet of Things and Artificial Intelligence Journal
Petrus Sutyasadi
Sanata Dharma University
Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Social Sciences

Published : 14 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 14 Documents
Search

 1   2 
Enhancing Segway scooter optimization for adaptive stability with proportional derivative control system Artanto, Dian; Pranowo, Ignatius Deradjad; Sutyasadi, Petrus
International Journal of Electrical and Computer Engineering (IJECE) Vol 15, No 6: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v15i6.pp5266-5275

Abstract

This study presents a locally manufactured Segway scooter utilizing a proportional derivative (PD) control system for adaptive stability under load variations. The system employs a lookup table correlating PD parameters with user weight categories (50–60 kg, 60–70 kg, 70–80 kg). Constructed from lightweight steel and powered by a 24 V lithium-ion battery, the prototype supports up to 85 kg while maintaining energy efficiency. Experimental results confirm the PD controller’s effectiveness in achieving stability with minimal oscillation across all tested loads. It sustains a steady- state error below 0.5° (50–60 kg) and under 1° (70–80 kg), with oscillations under 7° and recovery from 35° disturbances. Compared to complex methods like genetic algorithms or fuzzy logic, the PD system offers greater simplicity and cost-efficiency. It matches fuzzy-PID stability while reducing computational overhead by 20–40% and power consumption to 10–20 W/s, outperforming conventional PID in dynamic load adaptability. The integration of PD control with locally sourced materials underscores the solution’s sustainability and practicality, providing a scalable, energy- efficient paradigm for personal transportation with robust performance across varying conditions.
Control Improvement of Low-Cost Cast Aluminium Robotic Arm Using Arduino Based Computed Torque Control Petrus Sutyasadi
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 8 No. 4 (2022): Desember
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v8i4.24646

Abstract

Gravity causes non-linearity in position control of an articulated industrial robotic arm. Especially for a joint position control of a robot’s shoulder and elbow that works parallel with the gravity direction. To overcome the problem, Computed Torque Control algorithm was implemented. This algorithm linearized the feedback, so a regular linear Proportional Derivative controller can be implemented. The contribution of this research is to find an effective controller to control a heavy weight low-cost robotic arm link/body using low-cost controller such as Arduino. A Computed Torque Control was implemented to control the shoulder joint of an articulated robotic arm. This joint is the most affected joint by the gravity. It works along the vertical plane, and loaded by the rest of the arm and the robot’s load. The proposed controller was compared to a Proportional Integral Derivative (PID) Controller and a Cascade PID Controller. The experiment showed that the Computed Torque Controller can control the position of the arm properly both in the direction along or against the gravity. A linear PID controller could not bring the arm to the set point when it moves against the gravity, but it works well when the arm moves in the opposite direction. A Cascade PID controller has an overshot when the arm moves along the gravity. But it works properly when it moves up against the gravity. A Computed Torque Control works well in both directions even in the presence of gravity force because it includes the gravity on its algorithm.
Controlling a knee CPM machine using PID and iterative learning control algorithm Dechrit Maneetham; Petrus Sutyasadi
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 2: April 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i2.14876

Abstract

A conventional continuous passive motion (CPM) machine uses simple controller such as On/Off controller. Some better CPMs use PID controller. These kind of CPMs can not distinguish load different due to the different size of the patient leg. This may cause the CPM no longer follow the trajectory or the angle commands. Meanwhile, each patient may have different scenario of therapy from the others. When progress on the patient exists, the range of the flexion may be increased step by step. Therefore, the treatment can be different in term of the range of flexion from time to time. This paper proposes CPM with hybrid proportional integral derivative (PID) and iterative learning controller (ILC). The system has capability in learning the trajectory tracking. Therefore, the CPM will be able to follow any load or trajectory changes applied to it. The more accurate CPM machine can follow the trajectory command, the better its performance for the treatment. The experiment showed that the system was stable due to the PID controller. The tracking performance also improved with the ILC even there exist some disturbances.
Joint control of a robotic arm using particle swarm optimization based H2/H∞ robust control on arduino Petrus Sutyasadi; Martinus Bagus Wicaksono
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 2: April 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i2.14749

Abstract

This paper proposes a small structure of robust controller to control robotic arm’s joints where exist some uncertainties and unmodelled dynamics. Robotic arm is widely used now in the era of Industry 4.0. Nevertheless, the cost for an industry to migrate from a conventional automatic machine to industrial robot still very high. This become a significant challenge to middle or small size industry. Development of a low cost industrial robotic arm can be one of good solutions for them. However, a low-cost manipulator can bring more uncertainties. There might be exist more unmodelled dynamic in a low-cost system. A good controller to overcome such uncertainties and unmodelled dynamics is robust controller. A low-cost robotic arm might use small or medium size embedded controller such as Arduino. Therefore, the control algorithm should be a small order of controller. The synthesized controller was tested using MATLAB and then implemented on the real hardware to control a robotic manipulator. Both the simulation and the experiment showed that the proposed controller performed satisfactory results. It can control the joint position to the desired position even in the presence of uncertainties such as unmodelled dynamics and variation of loads or manipulator poses.
Co-Authors Anurogo, Baskoro Latu Bernardinus Sri Widodo Cahyono, Eko Aris Budi Dechrit Maneetham Dechrit Maneetham Dian Artanto Elang Parikesit Elang Parikesit Gregorius Budi Subanar Halim, Enrico Ignatius Deradjad Pranowo Indratma, Samuel Lukiyanto, Yohanes Baptista Manukid Parnichkun Martinus Bagus Wicaksono Siswoyo, Agus