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All Journal Prosiding Semnastek MATAPPA: Jurnal Pengabdian Kepada Masyarakat Indonesian Journal of Electrical Engineering and Computer Science Jurnal Manajemen Transportasi & Logistik (JMTRANSLOG) Jurnal INFOTEL
Nur Uddin
Universitas Pembangunan Jaya
Computer Science & IT Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Other

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Journal : Jurnal INFOTEL

 1 
Trajectory Tracking Control System Design For Autonomous Two-Wheeled Robot Nur Uddin
JURNAL INFOTEL Vol 10 No 3 (2018): August 2018
Publisher : LPPM INSTITUT TEKNOLOGI TELKOM PURWOKERTO

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20895/infotel.v10i3.393

Abstract

A trajectory tracking control system design of an autonomous two-wheeled robot (TWR) is presented. A TWR has two movements: translation (moving forward/backward) and rotation (turning to the right/left) which are commonly represented by a non-linear kinematic equations. The objective of the trajectory tracking control system is to steer the TWR move on a desired trajectory in planar space. In order to simplify the trajectory tracking control system design, the non-linear kinematic equations were approximated by linear kinematic equations through a linearization. Linear quadratics regulator (LQR) method was applied to design the control system. Computer simulations were done to evaluation performance of the designed control system. The simulation results show that the designed control system was able to make the TWR track a desired trajectory that located 1.4 meter away from the TWR initial position within 3 seconds.
Optimal Control Design of Active Suspension System Based on Quarter Car Model Nur Uddin
JURNAL INFOTEL Vol 11 No 2 (2019): May 2019
Publisher : LPPM INSTITUT TEKNOLOGI TELKOM PURWOKERTO

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20895/infotel.v11i2.429

Abstract

The optimal control design of the ground-vehicle active suspension system is presented. The active suspension system is to improve the vehicle ride comfort by isolating vibrations induced by the road profile and vehicle velocity. The vehicle suspension system is approached by a quarter car model. Dynamic equations of the system are derived by applying Newton’s second law. The control law of the active suspension system is designed using linear quadratic regulator (LQR) method. Performance evaluation is done by benchmarking the active suspension system to a passive suspension system. Both suspension systems are simulated in computer. The simulation results show that the active suspension system significantly improves the vehicle ride comfort of the passive suspension system by reducing 50.37% RMS of vertical displacement, 45.29% RMS of vertical velocity, and 1.77% RMS of vertical acceleration.
A Development of Low Cost Wi-Fi Robot for Teaching Aid Nur Uddin
JURNAL INFOTEL Vol 12 No 2 (2020): May 2020
Publisher : LPPM INSTITUT TEKNOLOGI TELKOM PURWOKERTO

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20895/infotel.v12i2.471

Abstract

A low-cost Wi-Fi robot as a teaching equipment is developed. The robot can be used to teach students in the subjects related to robotics system and internet of things (IoT). A Wi-Fi robot is a robot equipped with a Wi-Fi communication system for connecting to the internet. Integrating the robot with an IoT platform makes the robot able to communicate with other devices. The developed Wi-Fi robot in this study is a three-wheeled robot type. A NodeMCU ESP-12, which is a microcontroller equipped with Wi-Fi module, is applied in the robot. The robot is connected to the Blynk IoT platform and paired to a smartphone. It results in communication between the robot and the smartphone through the internet. The communication is demonstrated by remotely operating the robot using the smartphone. Mechanical structure and electronic wiring of the robot are simple such that the robot is easily built. Moreover, the cost of required components for building the robot is quite cheap as less than USD 20.
Co-Authors Fathan Albar Fredy Jhon Philip Sitorus Khairulliza Ahmad Salleh Lathifah Alfat Masurah Mohamad Muhammad Nasucha Pandu Purwandaru Safitri Jaya Suraya Masrom Wasni Wasni