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All Journal Jurnal Akuntansi & Auditing Indonesia Jurnal KALAM Journal of Economics, Business, & Accountancy Ventura Kontinu: Jurnal Penelitian Didaktik Matematika Jurnal Mudarrisuna: Media Kajian Pendidikan Agama Islam Jurnal Ilmu Produksi dan Teknologi Hasil Peternakan Terampil : Jurnal Pendidikan dan Pembelajaran Dasar Equilibrium: Jurnal Ilmiah Ekonomi, Manajemen dan Akuntansi JMPM: Jurnal Matematika dan Pendidikan Matematika Desimal: Jurnal Matematika al-Uqud : Journal of Islamic Economics JPPI (Jurnal Pendidikan Islam Pendekatan Interdisipliner) Ultima Management : Jurnal Ilmu Manajemen Jurnal Abdimas PHB : Jurnal Pengabdian Masyarakat Progresif Humanis Brainstorming M A T H L I N E : Jurnal Matematika dan Pendidikan Matematika Jurnal Review Pendidikan dan Pengajaran (JRPP) Journal of Contemporary Accounting Jurnal Abdimas Madani dan Lestari (JAMALI) Jurnal Ilmiah Edunomika (JIE) Proceeding of National Conference on Accounting & Finance Journal of Robotics and Control (JRC) Proceedings of Annual Conference for Muslim Scholars Jurnal Riset Akuntansi Kontemporer The Indonesian Journal of Accounting Research Abdimasku : Jurnal Pengabdian Masyarakat El-Wasathiya: Jurnal Studi Agama Riwayah : Jurnal Studi Hadis Jambura Journal of Biomathematics (JJBM) Tadarus Tarbawy : Jurnal Kajian Islam dan Pendidikan Jurnal Kepariwisataan Euler : Jurnal Ilmiah Matematika, Sains dan Teknologi SCHOOLAR: Social and Literature Study in Education JUKESHUM: Jurnal Pengabdian Masyarakat Mimbar Agama Budaya Progresif : Media Publikasi Ilmiah Journal of Tropical Food and Agroindustrial Technology Millah: Journal of Religious Studies Asean International Journal of Business Jurnal Ekonomi Syariah dan Hukum Islam Aceh Journal of Community Engagement (AJCE) Ekalaya: Jurnal Pengabdian Kepada Masyarakat Indonesia Jurnal Ekonomi Kreatif dan Manajemen Bisnis Digital (JEKOMBITAL) Journal of Pharmaceutical and Sciences. Eksponensial Jurnal Sains Alami (Known Nature) International Journal of Innovation and Education Research Indonesian Journal of Applied Mathematics Jurnal Sains dan Teknologi Transcendent Journal of Mathematics and Applications Leuser Journal of Environmental Studies Grimsa Journal of Science Engineering and Technology Al-Kharaj: Jurnal Ekonomi, Keuangan & Bisnis Syariah Jurnal Investasi Islam Adpebi Science Series Jurnal Pengabdian dan Pemberdayaan Kesehatan Al-Insyiroh: Jurnal Studi Keislaman EDUCATIONAL: Jurnal Inovasi Pendidikan dan Pengajaran Jurnal Pengabdian Tangerang Selatan Neraca: Jurnal Ekonomi, Manajemen dan Akuntansi COUNS-EDU: The International Journal of Counseling and Education
Mahmudi Mahmudi
Program Pasca Sarjana Fakultas Ilmu Agama Islam, Universitas Islam Indonesia, Yogyakarta
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Journal : journal of robotics and control jrc

 1 
A Performance Evaluation of Repetitive and Iterative Learning Algorithms for Periodic Tracking Control of Functional Electrical Stimulation System Kurniawan, Edi; Pratiwi, Enggar B.; Adinanta, Hendra; Suryadi, Suryadi; Prakosa, Jalu A.; Purwowibowo, Purwowibowo; Wijonarko, Sensus; Maftukhah, Tatik; Rustandi, Dadang; Mahmudi, Mahmudi
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20705

Abstract

Functional electrical stimulation (FES) is a medical device that delivers electrical pulses to the muscle, allowing patients with spinal cord injuries to perform activities such as walking, cycling, and grasping. It is critical for the FES to generate stimuli with the appropriate controller so that the desired movements can be precisely tracked. By considering the repetitive nature of the movements, the learning-based control algorithms are utilized for regulating the FES. Iterative learning control (ILC) and repetitive control (RC) are two learning algorithms that can be used to accomplish accurate repetitive motions. This study investigates a variety of ILC and RC designs with distinct learning functions; this constitutes our contribution to the field. The FES model of ankle angle, which is in a class of discrete-time linear systems is considered in this study. Two learning functions, i.e., proportional, and zero-phase learning functions, are simulated for the second-order FES model running at a sampling time of 0.1 s. The results indicate the superior performance of the ILC and RC in terms of convergence rate using the zero-phase learning function. ILC and RC with a zero-phase learning function can reach a zero root-mean-square error in two iterations if the model of the plant is correct. This is faster than proportional-based ILC and RC, which takes about 40 iterations. This indicates that the zero-phase learning function requires two iterations to ensure that the patient's ankle angle precisely tracks the intended trajectory. However, the tracking performance is degraded for both control methods, especially when the model is subject to uncertainties. This specific problem can lead to future research directions.
Co-Authors Abda Abda Abdul Muis Achmad Taufiq Adinanta, Hendra Adyatma, Adnan Azis Agus Arwani Agus Imam Santoso Agus Winarsih Ahmad Taufiq Aisyah, Maulidyati Al Ghifari , Abudzar Alfariza, Agus Aziz Alvin Noor Sahab Rizal Alwi, Alwi Shobri Anida Anida Anida Anida, Anida Ardhian Putra, Govan Artana, I Wayan Arta Arya Imamuddin Koeswara, Arya Imamuddin Asep Rusyana Asmuki, Asmuki Astria, Kenny Azhari, Saiful Azizi, Nur Bambang Saputra Baraba, Rania Abdul Aziz Bulut, Sefa Chairul Amriyah Dachi, Andreas Aditama Danang Setyadi Dekar Urumsah Dewi Nindiasari, Avininda Dewi, Herlina Rahmawati Dhea Urfina Zulkifli Dwi Ariyani, Asri Dwi Rugiarti, Novi Elfurqany, Nuwairy Fachrunniza, Yunda Fahmi, Mulkan Fanny Novika Fidia Deny Tisna Amijaya Gustina Elfiyanti Hadi, Bawa Mulyono Hadi, Nasrul Hafnani Hafnani Hamdi, Syaiful Hari Santoso Harjianto, Puji Herawati Susilo Herlina Rahmawati Dewi Hidayat, Afnenda Rachmalia Hindriari, Reni Iftihor, Iftihor Ika Sarah Mahsitah Ilmawati, Dwi Irkhamuddin, Irkhamuddin Irma Fauziah Jakaria Jakaria Junaidi Junaidi Kwantono, Hansel Timothy Lestari, Winda Ayu Mei Lestariningsih, Titin Lie, Oleh Tjhing Man lie, Tjhing Man Linawati , Linawati Linawati Linawati Lutfan Milzam, Ahmad Lutfi, Saiful M. Yogi Riyantama Isjoni Machnunah Ani Zulfah Maftukhah, Tatik Mahmud, Dini Rosyada Manan, Muhammad Abdul Mau, Daniel Pandu Mau, Yesarela Pandu Maulidi, Ikhsan Maysun, Maysun Mentari Maghfirani Riyadi Muhamad Abdul Manan Muhamad Syazali MUHAMMAD AGIL Muhammad Ikhwan Muhammad Manaqib, Muhammad Muhammad Ramadhan Muhammad Yusuf Mulyono, Bawa Hadi Munawaroh Munawaroh Mursyidah, Nelly Murti, Ridho Bayu Mutia Farida, Mutia Mutiara Annisa Muzdalipah Musda Muzdalipah Najamuddin , Yunan Najamuddin, Yunan Nina Fitriyati Nisrina Nur Aini Nur Rizky Apdaresena Nurfauziya, Ahada Nurillah, Usmau Lidya Nurmaleni, Nurmaleni Nurmaulidar Nurmaulidar Nurul Hikmah Pamularsi, Anggita Pasaribu, Sri Rizki Aprilianti Prabowo, Ivy Dian Puspitasari Prakosa, Jalu A. Pratiwi, Enggar B. Prayoga, Galuh Purwowibowo Purwowibowo, Purwowibowo R. Priyanto Rafiq Maulana Rahima Rahima Rahman, Sunarti Abd Raiyan, Raiyan Rara Mita Mayang Aginsyah Ratna Ekawati Reni Yendrawati Renny Sukmono, Renny Rifqi Muhammad Rina Kurniaty Rinaldi Idroes Ristawati Ristawati Rito Goejantoro, Rito Riyanto, Eko Riza Rahmady Daeng Rizki, Anggun Robiatul Adawiyah Rosita Rosita Rustandi, Dadang Safira, Satyarani Safitri, Issa Bella Safitri, Nur Izzati Safrina, Nurul Said Hasibuan, M. Saiful Amri Saimul Laili Salami, Muhammad Musyfiq Saputra, T Murdani Savitri, Enny Setiawan, Eureka Milky Shaleh, Munif Sidqi, Serin Tias Siti Rusdiana Siti Sarah, Siti Sofiya, Sofiya Sri Wahyuni Sukamto, Ika Sumiyarsi Sukapti, Sri Supatmin, Supatmin Supriyadi Supriyadi Suryadi Suryadi Sutanto, Taufik Edy Suyyinah, Suyyinah Syahrini, Intan Syarif Nurhidayat Tarigan, Daniel Christian Teduh Dirgahayu, Teduh Umamul Barik, Zaidus Surur Umar Faruq Usman, Tarmizi Vina Apriliani Wahidah, Nina Ikhwati Wibawa, Dwi Ari WIDIASTUTI - Widiastuti Widiastuti Wijaya, Madona Yunita Wijonarko, Sensus Yanne Irene Yusuf , Muhammad zamroni, Thoif Zulfiani, Utari