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All Journal International Journal of Electrical and Computer Engineering International Journal of Power Electronics and Drive Systems (IJPEDS) IAES International Journal of Artificial Intelligence (IJ-AI) Jurnal Teknik ITS IPTEK Journal of Proceedings Series Jurnal EECCIS Proceeding of the Electrical Engineering Computer Science and Informatics BAREKENG: Jurnal Ilmu Matematika dan Terapan Indonesian Physical Review JEECAE (Journal of Electrical, Electronics, Control, and Automotive Engineering) Journal of Robotics and Control (JRC) Indonesian Journal of Electrical Engineering and Computer Science International Journal of Artificial Intelligence and Robotics (IJAIR) Sewagati
Katherin Indriawati
Departemen Teknik Fisika Institut Teknologi Sepuluh Nopember
Aerospace Engineering Arts Humanities Automotive Engineering Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Languange, Linguistic, Communication & Media Mathematics Mechanical Engineering Physics Public Health Social Sciences Transportation Other

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Journal : Journal of Robotics and Control (JRC)

 1 
Non-Linear Estimation using the Weighted Average Consensus-Based Unscented Filtering for Various Vehicles Dynamics towards Autonomous Sensorless Design Widjiantoro, Bambang L.; Wafi, Moh Kamalul; Indriawati, Katherin
Journal of Robotics and Control (JRC) Vol 4, No 1 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i1.16164

Abstract

The concerns to autonomous vehicles have been becoming more intriguing in coping with the more environmentally dynamics non-linear systems under some constraints and disturbances. These vehicles connect not only to the self-instruments yet to the neighborhoods components, making the diverse interconnected communications which should be handled locally to ease the computation and to fasten the decision. To deal with those interconnected networks, the distributed estimation to reach the untouched states, pursuing sensorless design, is approached, initiated by the construction of the modified pseudo measurement which, due to approximation, led to the weighted average consensus calculation within unscented filtering along with the bounded estimation errors. Moreover, the tested vehicles are also associated to certain robust control scenarios subject to noise and disturbance with some stability analysis to ensure the usage of the proposed estimation algorithm. The numerical instances are presented along with the performances of the control and estimation method. The results affirms the effectiveness of the method with limited error deviation compared to the other centralized and distributed filtering. Beyond these, the further research would be the directed sensorless design and fault-tolerant learning control subject to faults to negate the failures.
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.
Co-Authors Achmad Jazidie Agustiyanto, Frans R Akbar, Reza Maliki Akhmad Ibnu Hija Alfian Pramudita Putra Ama, Fadli Andri Haris Setyawan Ariefianto, Rizki Mendung Aufa, Ardyas Nur Aulia Siti Aisjah Bambang L. Widjiantoro Bambang Lelono Widjiantoro Bambang Lelono Widjiantoro Dea Faiza Febrianty Detak Yan Pratama Ekatiara, Cindy Reviko Febry Pandu Wijaya Fikri Nurhidayat Gregorius Kevin Halim, Christian Vieri Hanifa Hanifa Hanifa Hartati, Ayu Dian Hatta, Agus Muhamad Hendro Nurhadi Hilton Tnunay, Hilton Ikma Lailatul Badriyah Ikma Lailatul Badriyah Kurnia Ma'rifatin Pebriningtyas Luthfansyah Mohammad Mega Permatasari, Shervind Maharani Mohammad Harwin Prayoga Mohammad Kamalul Wafi Mohammad Kamalul Wafi Mohmmad Kamalul Wafi Mufit, Choirul Muhammad Khamim Asyari Musyafa’, Ali Nawangsih, Nawangsih Ontoseno Penangsang Pandu Wijaya, Febry Perkasa, Sigit Dani Purwadi Agus Darwito Rahmawan, Hanif Adi Ruri Agung Wahyuono Salma Qotrunnada Sitepu, Simion Suyanto, Suyanto Syahrul Munir Syamsul Arifin Teguh Herlambang Trihastuti Agustinah Tulus Indra Hermawan Usamah, Shofi Afghania Wafi, Moh Kamalul Wahyuadnyana, Kadek Dwi Widjianto, Bambang Lelono Widjiantoro, Bambang L. Yaumar Yaumar Ya’umar