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All Journal International Journal of Electrical, Energy and Power System Engineering (IJEEPSE) International Journal of Robotics and Control Systems
Rozaimi Ghazali
Universiti Teknikal Malaysia Melaka
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy

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Development of Rechargeable Lawn Mower Hanafi, Dirman; Afrianto, Muhamad Wendi; Kwad, Ayad Mahmood; Wahid, Herman; Ghazali, Rozaimi; Gunardi, Yudhi
International Journal of Electrical, Energy and Power System Engineering Vol. 6 No. 2 (2023): The International Journal of Electrical, Energy and Power System Engineering (I
Publisher : Electrical Engineering Department, Faculty of Engineering, Universitas Riau

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31258/ijeepse.6.2.145-150

Abstract

Lawn mower is device to mow grass. The lawn mower will be having a problem such as the lawn mower widely used around by handle manually with hand. Next, the power source for lawn mowers is from petrol energy. That energy is nonrenewable energy and has bad impacts on the environment and people. In this paper, a prototype of lawn mower is designed and fabricated with its operation movement system through the Smartphone via Wi-Fi connection. The lawn mower is powered using the sealed acid battery that it can charging by using the photovoltaic cell or AC voltage source. The development of rechargeable lawn mower using ESP32 to keep and process data before sending to the webpage IP Address 192.168.4.1 to show the control movement of lawn mower via Smartphone. Based on experimental test results, the lawn mower was able to control its movement via a smartphone through a Wi-Fi connection. Next, the results were revealing the ability of solar panels for 2 hours and AC voltage for 1 hour to fully charged the sealed lead-acid batteries. Finally, a grass trim performance test was carried out on a lawn mower in the yard of the house and the result was that the grass could be cut. After that, the battery consumption of lawn mower operation for 1 hour was obtained the result around 50% of the capacity which is fully discharge because occurs the maximum depth of discharge of sealed lead acid batteries.
Control of a Multimode Double-Pendulum Overhead Crane System Using Input Shaping Controllers Hussien, Sharifah Yuslinda Syed; Jaafar, Hazriq Izzuan; Ghazali, Rozaimi; Ramli, Liyana; Johari, Mohd Khairul Azizat
International Journal of Robotics and Control Systems Vol 4, No 3 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i3.1520

Abstract

This paper investigates the impact of higher derivative input shaping for minimizing both oscillations, namely hook and payload of a multimode double-pendulum overhead crane (MDPOC) system. The MDPOC has greater nonlinearities and stronger internal couplings, especially when involving two oscillation frequencies with multimode dynamic effects. With a suitable system’s natural frequency and damping ratio of the hook and payload oscillations, multimode zero-vibration (ZV-ZV), multimode zero-vibration derivative (ZVD-ZVD) and multimode zero-vibration derivative-derivative (ZVDD-ZVDD) shapers are successfully designed. More interestingly, two scenarios under a fixed cable length and a payload hoisting are considered which are closer to the real practical crane.  Thus, an average travel length (ATL)-based shaper method is also considered to further verify the effectiveness and robustness of efficient hook and payload oscillation control under payload hoisting. All the multimode input shaping is simulated using the Matlab software. The simulation results of multimode ZVDD-ZVDD shaper successfully reduced in the overall hook and payload oscillations by 97.9% and 97.2%, respectively, compared to the unshaped system, whereas the multimode ATL-ZVDD shaper reduced hook and payload oscillations by 94.8% and 94.0%, respectively. In fact, the multimode ZVDD-ZVDD and multimode ATL-ZVDD shapers demonstrate the superiority in minimizing the hook and payload oscillations compared to the multimode ZV-ZV, multimode ZVD-ZVD, ATL-ZV and ATL-ZVD shapers. This significant reduction in oscillations enhances the precision and safety of real-world crane operations in industrial settings. It has been proven that considering the additional derivative of input shaping results in a higher level of hook and payload oscillations reduction.
Enhanced Hybrid Robust Fuzzy-PID Controller for Precise Trajectory Tracking Electro-Hydraulic Actuator System Ali, Nur Husnina Mohamad; Ghazali, Rozaimi; Tahir, Abdul Wafi; Jaafar, Hazriq Izzuan; Ghani, Muhammad Fadli; Soon, Chong Chee; Has, Zulfatman
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1407

Abstract

The Electro-Hydraulic Actuator (EHA) system integrates electrical and hydraulic elements, enabling it to generate a rapid reaction, a high power-to-weight ratio, and significant stiffness. Nevertheless, EHA systems demonstrate non-linear characteristics and modeling uncertainties, such as friction and parametric uncertainty. Designing a controller for accurate trajectory tracking is greatly challenging due to these limitations. This paper introduces a hybrid robust fuzzy proportional-integral-derivative (HFPID) and (HF+PID) controller. The controller is designed to effectively control a third-order model of an EHA system for trajectory tracking. It is a significant contribution to the development of an intelligent robust controller that can perform well in different environments. Initially, a mathematical model for the EHA system was created using a first-principle approach. Subsequently, the Ziegler-Nichols method was employed to fine-tune the PID controller, while a conventional Fuzzy Logic Controller (FLC) was constructed in MATLAB Simulink utilizing linguistic variables and rule-based control. Without further tuning, the FL and PID controller are combined as a hybrid controller with different structures: Hybrid Fuzzy-PID (HFPID) and Hybrid Fuzzy+PID (HF+PID) controller. The Mean Square Error (MSE) and Root Mean Square Error (RMSE) are utilized as indices to assess the tracking accuracy and robustness of the four controllers. A greater value of MSE and RMSE indicates poorer performance of the controller. The results demonstrate that the HF+PID controller surpasses the other controllers by reaching the lowest MSE and RMSE values. It showcases the efficacy and accuracy in monitoring sinusoidal, multi-sinusoidal, and point-to-point trajectory tracking.  Future work should focus on implementing the designed controller on hardware for real-time performance and experimenting with various types of FLC or Hybrid controllers, such as self-tuning fuzzy-PID, to further explore their potential.
Co-Authors Afrianto, Muhamad Wendi Ali, Nur Husnina Mohamad Dirman Hanafi Ghani, Muhammad Fadli Hussien, Sharifah Yuslinda Syed Jaafar, Hazriq Izzuan Johari, Mohd Khairul Azizat Kwad, Ayad Mahmood Ramli, Liyana Soon, Chong Chee Tahir, Abdul Wafi Wahid, Herman Yudhi Gunardi Zulfatman Zulfatman