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All Journal TRANSIENT: Jurnal Ilmiah Teknik Elektro TELEKONTRAN: Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan
Muhammad Fadli Nasution
Jurusan Teknik Elektro, Universitas Diponegoro Semarang Jl. Prof. Sudharto, SH, Kampus UNDIP Tembalang, Semarang 50275, Indonesia
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

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DESAIN SISTEM KONTROL ROBUST PID H∞ CONTROL DENGAN OPTIMASI GENETIC ALGORITHM UNTUK ATTITUDE CONTROL QUADROTOR UAV Nasution, Muhammad Fadli; Triwiyatno, Aris; Setiyono, Budi
Transient: Jurnal Ilmiah Teknik Elektro TRANSIENT, VOL. 2, NO. 4, DESEMBER 2013
Publisher : Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (800.57 KB) | DOI: 10.14710/transient.2.4.981-988

Abstract

                                                                          Abstrak Sistem yang robust sangat penting dalam desain sistem kontrol karena sistem di dunia nyata rentan terhadap gangguan eksternal. Beberapa teknik untuk merancang sebuah kontroler yang robust memiliki struktur yang rumit dan orde yang tinggi, namun hal tersebut sangat dihindari dalam praktek kerja. Untuk mengatasi masalah ini, dirancang kontroler dengan struktur yang tetap. Penelitian ini membahas model dan kontroler quadrotor uav. Metode Euler-Newton digunakan untuk memodelkan persamaan dinamika quadrotor. Teknik kontrol yang digunakan dalam perancangan kontroler robust PID berdasarkan teori H∞ loop shaping dan H∞ mixed sensitivity dengan struktur kontroler PID. Pole loop tertutup dari sistem kontrol ditempatkan pada daerah kiri garis bidang-s untuk menjaga stabilitas sistem. Algoritma genetika digunakan untuk menyelesaikan dan mendapatkan parameter kontroler. Berdasarkan pengujian yang dilakukan dengan menerapkan PID, robust PID H∞ mixed sensitivity dan robust PID H∞ loop shaping kontroler ke dalam sistem attitude Quadrotor, kontroler robust PID H∞ loop shaping pada sistem kontrol roll memiliki settling time lebih cepat daripada PID dan robust PID H∞ mixed sensitivity. Demikian pula, ketika robust PID H∞ loop shaping kontroler diterapkan pada sistem kontrol pitch dan yaw. Kata kunci: H∞ loop shaping, H∞ mixed sensitivity, Robust PID  control, Quadrotor uav  Abstract Robustness is importance in control-system design because real systems are vulnerable to external disturbance. many techniques for designing a robust controller have complicated structure and high order.  It is well known that a high order or complicated structure controller is not desired in practical work. To overcome this problem, a fixed-structure robust controller is designed. This research presented the modelling and control of a quadrotor uav. The Euler-Newton formalism was used to model the dynamic system. The proposed control for designing a robust PID controller for attitude quadrotor based on H∞ loop shaping and H∞ mixed sensitivity with PID structured controller. The closed-loop poles of the controlled system was placed in left-hand side of a vertical line in the complex s-plan in order to maintain the stability of system. Genetic algorithm (GA) is applied to solve and achieve the control parameters. Based on testing that performed by applying PID, robust PID H∞ mixed sensitivity and robust PID H∞ loop shaping controller on attitude quadrotor, robust PID H∞ loop shaping controller on roll control system had faster settling time than PID and robust PID H∞ mixed sensitivity system response. Similarly, when robust PID H∞ loop shaping applying on pitch and yaw control system. Keyword : H∞ loop shaping, H∞ mixed sensitivity, Robust PID control, Quadrotor uav 
DESAIN SISTEM KONTROL ROBUST PID H∞ CONTROL DENGAN OPTIMASI GENETIC ALGORITHM UNTUK ATTITUDE CONTROL QUADROTOR UAV Nasution, Muhammad Fadli; Triwiyatno, Aris; Setiyono, Budi
Transient: Jurnal Ilmiah Teknik Elektro TRANSIENT, VOL. 2, NO. 4, DESEMBER 2013
Publisher : Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (800.57 KB) | DOI: 10.14710/transient.2.4.981-988

Abstract

                                                                          Abstrak Sistem yang robust sangat penting dalam desain sistem kontrol karena sistem di dunia nyata rentan terhadap gangguan eksternal. Beberapa teknik untuk merancang sebuah kontroler yang robust memiliki struktur yang rumit dan orde yang tinggi, namun hal tersebut sangat dihindari dalam praktek kerja. Untuk mengatasi masalah ini, dirancang kontroler dengan struktur yang tetap. Penelitian ini membahas model dan kontroler quadrotor uav. Metode Euler-Newton digunakan untuk memodelkan persamaan dinamika quadrotor. Teknik kontrol yang digunakan dalam perancangan kontroler robust PID berdasarkan teori H∞ loop shaping dan H∞ mixed sensitivity dengan struktur kontroler PID. Pole loop tertutup dari sistem kontrol ditempatkan pada daerah kiri garis bidang-s untuk menjaga stabilitas sistem. Algoritma genetika digunakan untuk menyelesaikan dan mendapatkan parameter kontroler. Berdasarkan pengujian yang dilakukan dengan menerapkan PID, robust PID H∞ mixed sensitivity dan robust PID H∞ loop shaping kontroler ke dalam sistem attitude Quadrotor, kontroler robust PID H∞ loop shaping pada sistem kontrol roll memiliki settling time lebih cepat daripada PID dan robust PID H∞ mixed sensitivity. Demikian pula, ketika robust PID H∞ loop shaping kontroler diterapkan pada sistem kontrol pitch dan yaw. Kata kunci: H∞ loop shaping, H∞ mixed sensitivity, Robust PID  control, Quadrotor uav  Abstract Robustness is importance in control-system design because real systems are vulnerable to external disturbance. many techniques for designing a robust controller have complicated structure and high order.  It is well known that a high order or complicated structure controller is not desired in practical work. To overcome this problem, a fixed-structure robust controller is designed. This research presented the modelling and control of a quadrotor uav. The Euler-Newton formalism was used to model the dynamic system. The proposed control for designing a robust PID controller for attitude quadrotor based on H∞ loop shaping and H∞ mixed sensitivity with PID structured controller. The closed-loop poles of the controlled system was placed in left-hand side of a vertical line in the complex s-plan in order to maintain the stability of system. Genetic algorithm (GA) is applied to solve and achieve the control parameters. Based on testing that performed by applying PID, robust PID H∞ mixed sensitivity and robust PID H∞ loop shaping controller on attitude quadrotor, robust PID H∞ loop shaping controller on roll control system had faster settling time than PID and robust PID H∞ mixed sensitivity system response. Similarly, when robust PID H∞ loop shaping applying on pitch and yaw control system. Keyword : H∞ loop shaping, H∞ mixed sensitivity, Robust PID control, Quadrotor uav 
Smart Asissistive Device: Alat Bantu Komunikasi Pasien Stroke Berat Dengan Gesture Recognition Berbasis Internet Of Things Nasution, Muhammad Fadli; Nulfatwa, Robby Ikhfa; Maryam, Rahillah Nur; Iqbal, Fadhil Muhammad; Rifansyah, Raihan Yusuf; Setya Budi, Agus Heri
Telekontran : Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan Vol. 10 No. 2 (2022): TELEKONTRAN vol 10 no 2 Oktober 2022
Publisher : Program Studi Teknik Elektro, Fakultas Teknik dan Ilmu Komputer, Universitas Komputer Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34010/telekontran.v10i2.9181

Abstract

Stroke is the highest cause of disability in the world. Most post-stroke patients experience a decrease in motor function and make the patient experience difficulties in carrying out daily activities so that they need assistance from a companion. As a result of dysartia experienced by patients, companions need to be on guard all the time by the patient's side to anticipate the patient's needs. This makes patient companions have limitations in carrying out their daily activities. Based on these problems, an innovative communication tool for post-severe stroke patients was created with gesture recognition based on the Internet of Things. This tool can assist patients in communicating their needs appropriately while at the same time making patient companions remain productive because there is no need to stand guard accompanying patients as long as they are not needed. The research method used is a planned experiment beginning with problem identification, literature study, product design, system integration, product verification and validation. Based on data analysis, the system is functioning properly, successfully sending daily activity notifications to the accompanying Android application when the patient wants to move. This tool is very useful for post-stroke patients as a tool to communicate their needs, and is also useful for companions so that time for caring for patients is not wasted. For further development, this tool can adjust the patient's motoric abilities that are still functioning, such as head movements, facial expressions, etc., as well as adding various types of activities to the tool.
Aplikasi Penghitung Kecepatan Mobil dengan Akurasi Tinggi Menggunakan Yolo untuk Meminimasi Kecelakaan Henny, Henny; Baiquni, Muhammad Azhar; Mulyanti, Budi; Nasution, Muhammad Fadli; Setya Budi, Agus Heri
Telekontran : Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan Vol. 11 No. 2 (2023): TELEKONTRAN vol 11 no 2 Oktober 2023
Publisher : Program Studi Teknik Elektro, Fakultas Teknik dan Ilmu Komputer, Universitas Komputer Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34010/telekontran.v11i2.10900

Abstract

One of the causes of accidents is the lack of vigilance among drivers and violations of vehicle speed exceeding the maximum limit. To mitigate these violations, traffic supervision is necessary, especially in accident-prone areas. This research introduces a video-based vehicle speed and license plate detection system developed using YOLOv5-DeepSORT and HyperLPR to address this issue. The system employs YOLOv5 and DeepSORT to detect and track vehicle movements, thereby obtaining the displacement of the vehicle, which serves as a reference for speed detection. HyperLPR, on the other hand, is utilized for license plate recognition. The research adopts an experimental methodology, involving video recording on the Cipali toll road section, which serves as input for the vehicle speed and license plate detection program. The evaluation of vehicle object detection using YOLOv5 yields a precision metric score of 100%. Moreover, the testing of vehicle speed detection reveals an average error percentage of 7.6% compared to the actual values. In terms of license plate detection, an overall character accuracy rate of 91.82% is achieved.Based on these findings, it can be concluded that the developed vehicle speed and license plate detection system exhibit excellent accuracy and could be considered for implementation, taking into account predefined implementation criteria.Keyword: Vehicle speed, vehicle license plate, YOLOv5, DeepSORT, HyperLPR.
Co-Authors Aris Triwiyatno Baiquni, Muhammad Azhar Budi Mulyanti Budi Setiyono Budi, Agus Heri Setya Henny Henny Iqbal, Fadhil Muhammad Maryam, Rahillah Nur Nulfatwa, Robby Ikhfa Rifansyah, Raihan Yusuf