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All Journal Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems Sewagati
Purwadi Agus Darwito
Institut Teknologi Sepuluh Nopember, Surabaya
Aerospace Engineering Arts Humanities Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Mechanical Engineering Public Health Social Sciences Other

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Sistem Monitoring dan Kontrol Otomatis Terintegrasi IoT pada Vertical Crab House untuk Meningkatkan Potensi Hidup Kepiting Bakau di PT. Crab Crab Aquatic Mujiyanti, Safira Firdaus; Raditya, Murry; Nugroho, Dwi Oktavianto Wahyu; Darwito, Purwadi Agus; Septyaningrum, Erna; Zein, Muhammad Ikhsanuddin; Lokeswara, Rajendra; Rishwanda, Muhammad Akmal; Darmawan, Tiffany Rachmania; Rohid, Abdul; Nanta, Tepy Lindia
Sewagati Vol 8 No 3 (2024)
Publisher : Pusat Publikasi ITS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j26139960.v8i3.914

Abstract

Budidaya kepiting bakau dengan Vertical Crab House menjadi alternatif pembesaran kepiting dengan lahan terbatas untuk memenuhi permintaan di perkotaan. Namun masih banyak resiko kematian kepiting bakau disebabkan proses pengendalian kualitas air masih manual dalam mengendalikan kualitas air sirkulasi. Hal ini membutuhkan tenaga manusia dan waktu ekstra untuk memastikan kualitas air sirkulasi sesuai dengan kondisi lingkungan pertumbuhan kepiting bakau. Ditambah lagi metode Vertical Crab House tidak dapat mengidentifikasi kondisi kualitas air secara tepat, tidak dapat mengecek kondisi kualitas air secara real-time, dan tidak dapat mengecek kondisi temperatur, salinitas, amonia, dan pH secara simultan. Kondisi lingkungan yang tidak sesuai dengan parameter dan tidak termonitor membuat resiko kematian kepiting bakau masih sangat tinggi sehingga menyebabkan pembudidaya mengalami kerugian yang cukup besar. Permasalahan tersebut menjadi dasar terciptanya sistem otomatisasi pengendalian kualitas air untuk mengoptimalkan proses budidaya kepiting bakau dengan metode Vertical Crab House. Proses pengendalian kualitas air tersebut dilakukan dengan memasang sensor, kontroler, dan aktuator yang diintegrasikan sehingga proses pengendalian kualitas air dapat berjalan terus-menerus untuk memastikan air yang tersirkulasi sesuai dengan lingkungan yang optimal bagi pertumbuhan kepiting bakau. Selain itu, kualitas air sirkulasi pada budidaya dapat dipantau secara real-time melalui aplikasi smartphone.
Design of a Control System for Hybrid Quadcopter Tilt Rotor Based on Backward Transition Algorithm Darwito, Purwadi Agus; Agustina, Nilla Perdana; Ahnaf, Hudzaifa Dhiaul; Roosydi, Syahrizal Faried; Pratama, Detak Yan; Biyanto, Totok Ruki
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i1.22594

Abstract

An Unmanned Aerial Vehicle (UAV) is an unmanned aerial vehicle that can be controlled using either automatic or manual control. UAVs are divided into two types: rotary-wing, which uses rotating propellers to fly the aircraft, and fixed-wing, which uses fixed wings to fly the aircraft. One of the advanced developments in UAV technology is the Hybrid Vertical Take-Off Landing Quadrotor Tiltrotor Aircraft (QTRA) system, which combines the quadrotor UAV system, classified under rotary-wing, with the fixed-wing UAV system. This allows for vertical takeoff and landing as well as the ability to cruise at maximum speed. In the transition between flight modes, from quadcopter to fixed-wing and vice versa, the transition is carried out by changing the thrust direction of the two front UAV rotors from horizontal to vertical and vice versa. The change in thrust angle on the rotor is referred to as a tilt rotor. The problem that arises from changing the aircraft mode from fixed-wing to quadcopter is controlling the UAV's transition mode, which must not lose its lift force. Therefore, the tilt angle must be changed as quickly as possible. To solve this issue, a Hybrid VTOL Quadrotor Tiltrotor aircraft concept was designed with fast response, controlled by a Proportional Derivative (PD) controller. The results of the PD control system response were tested in simulations by observing the X and Z positions of the UAV, which can stabilize the position during the transition. The success criteria targeted for a stable response include a tilting angle with a settling time of 7 seconds, an overshoot height of 16 meters, and a steady-state error approaching zero. From the transition simulation tests, the system response data showed performance with an X-axis settling time of 37 seconds, a steady-state error value of 0.1 meters, and an overshoot of 0.4%.
Performance Analysis of PID and SMC Control Algorithms on AUV under the Influence of Internal Solitary Wave in the Bali Deep Sea Wahyuadnyana, Kadek Dwi; Indriawati, Katherin; Darwito, Purwadi Agus; Aufa, Ardyas Nur; Tnunay, Hilton
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23800

Abstract

Autonomous Underwater Vehicles (AUVs) play a crucial role in deep-sea exploration, but their stability is often compromised by Internal Solitary Waves (ISWs) and nonlinear disturbances in stratified waters. This study aims to evaluate the performance of two control algorithms, Proportional-Integral-Derivative (PID) and Sliding Mode Control (SMC), in mitigating ISW effects on AUV trajectory tracking. Simulations were conducted in Simulink (MATLAB), modeling AUV dynamics under ISW disturbances with intensities ranging from 0% to 100%. The results reveal that both PID and SMC algorithms experience significant performance degradation as ISW intensity increases, with Root Mean Square Error (RMSE) values rising exponentially between 50% and 75% disturbance levels. While SMC offers better resilience to nonlinear disturbances than PID, neither algorithm fully compensates for high ISW intensities. These findings highlight the limitations of conventional control strategies and underscore the need for more robust, adaptive algorithms for reliable deep-sea AUV operations. Future work will explore Nonlinear Model Predictive Control (NMPC) for improved stability in complex marine environments.
Indoor Quadcopter Localization Using Fuzzy-Sliding Mode Control for Robust Navigation Darwito, Purwadi Agus; Agustina, Nilla Perdana; Pratama, Detak Yan; Al Farros, Mohammad Naufal; Setiadi, Iwan Cony; Biyanto, Totok Ruki; Imron, Choirul
International Journal of Robotics and Control Systems Vol 5, No 3 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i3.1941

Abstract

Growing demand for warehouse automation requires Unmanned Aerial Vehicles (UAVs), particularly quadcopters, to operate autonomously with a high level of precision and reliability. However, indoor localization poses unique challenges due to the absence of Global Positioning System (GPS) signals, making alternative sensors and robust control strategies essential. This study proposes an indoor UAV navigation system that integrates camera and LiDAR sensors with Fuzzy–Sliding Mode Control (Fuzzy-SMC) to enhance stability and reduce the chattering effects commonly associated with Sliding Mode Control. In the proposed method, the camera provides better accuracy for real-time position tracking compared to LiDAR, while fuzzy logic adaptively adjusts the Sliding Mode Control parameters, which serve as the main controller for stabilizing the quadcopter’s nonlinear dynamics. Research methodology includes mathematical modeling of the UAV quadcopter, the design of the Fuzzy-SMC controller, and simulation-based testing for trajectory tracking in indoor environments. Results show that the developed system achieves high accuracy, with error values ranging from 0 to 4.044%, remaining below the acceptable threshold of 5%. These findings demonstrate that integration of a camera with Fuzzy-SMC provides an effective and reliable solution for indoor quadcopter UAV navigation, while future research will focus on optimizing the fuzzy rule base and conducting hardware validation in real warehouse scenarios.
Co-Authors Agustina, Nilla Perdana Ahnaf, Hudzaifa Dhiaul Al Farros, Mohammad Naufal Aufa, Ardyas Nur Darmawan, Tiffany Rachmania Detak Yan Pratama Hilton Tnunay, Hilton Imron, Choirul Iwan Cony Setiadi, Iwan Cony Katherin Indriawati Lokeswara, Rajendra Mujiyanti, Safira Firdaus Nanta, Tepy Lindia Nugroho, Dwi Oktavianto Wahyu Raditya, Murry Rishwanda, Muhammad Akmal Rohid, Abdul Roosydi, Syahrizal Faried Septyaningrum, Erna Totok Ruki Biyanto Wahyuadnyana, Kadek Dwi Zein, Muhammad Ikhsanuddin