Articles
<![CDATA[Train Localization using Unscented Kalman Filter–Based Sensor Fusion ]]>
<![CDATA[Faruqi, Ismail]]>;
<![CDATA[Waluya, Muhammad]]>;
<![CDATA[Nazaruddin, Yul]]>;
<![CDATA[Tamba, Tua]]>
<![CDATA[ http://dx.doi.org/10.31427/IJSTT.2018.1.2.1 ]]>
Publisher : <![CDATA[Unijourn Publisher ]]>
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<![CDATA[This paper presents an application of sensor fusion methods based on Unscented Kalman filter (UKF) technique for solving train localization problem in rail systems. The paper first reports the development of a laboratory-scale rail system simulator which is equipped with various onboard and wayside sensors that are used to detect and locate the train vehicle movements in the rail track. Due to the low precision measurement data obtained by each individual sensor, a sensor fusion method based on the UKF technique is implemented to fuse the measurement data from several sensors. Experimental results which demonstrate the effectiveness of the proposed UKF-based sensor fusion method for solving the train localization problem is also reported.]]>
<![CDATA[Perancangan Kontrol Pelacakan Lintasan untuk Robot Otonom Bergerak Beroda dengan Penggerak Diferensial ]]>
<![CDATA[Stephen I.C. Gulo]]>;
<![CDATA[Tua Tamba]]>
<![CDATA[ Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 10 No 3: Agustus 2021 ]]>
Publisher : <![CDATA[Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada ]]>
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DOI: 10.22146/jnteti.v10i3.1454
<![CDATA[Differential drive wheeled mobile robots (DDWMR) is a class of mobile robots which has been used in various applications due to its mobile abilities. One important issue in the development of DDWMR is regarding the design of control methods to ensure the DDWMR can move autonomously from initial to final poses. The main challenge in such an issue is the need to design a controller which respects the nonholonomic constraint of DDWMR movements. To address such a challenge, this paper proposes a control method which combines techniques in smooth reference trajectory generation and Lyapunov-based tracking control designs. In the proposed method, a reference trajectory that is represented as polynomial function is first generated to connect the initial and final poses based on some waypoints information between them. A feedback control law based on Lyapunov’s stability method is then design to help control the DDWMR in tracking the generated reference trajectory with minimum error. Numerical simulation results are given to illustrate the effectiveness of the proposed method,]]>
<![CDATA[Design and kinematic analysis of a two-DOF moving platform as a base for a car simulator ]]>
<![CDATA[Bagus Made Arthaya]]>;
<![CDATA[Raymond Christian]]>;
<![CDATA[Tua Agustinus Tamba]]>;
<![CDATA[Dilek Bilgin Tükel]]>
<![CDATA[ Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 13, No 1 (2022) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2022.v13.48-59
<![CDATA[The study starts by modeling a simple 2-DOF (degrees of freedom) moving platform that employs two actuators to provide two kinds of rotational motion on the moving platform and each motion is driven by an electrical motor. A preliminary study to better understand motion generation is conducted by deriving a mathematical model of the platform. Based on this model, the relationship between the rotations of the two driving motors and the pitch and roll movements of the platform is determined. The range of movements must be limited both in the pitch and roll planes to a certain maximum and minimum values of tilting angles. This preliminary design of the platform is introduced to demonstrate motions that might be experienced by the user in roll and pitch directions. The motion generated has fulfilled the constraint with respect to the vestibular system. Results of experimental works show that the first motor angle between -26° and 27° is suitable for the roll plane; meanwhile, the angles range of -52° and 54° for the second motor is suitable for the pitch plane. Furthermore, some simple experiments were conducted to examine the correctness of the model through the comparison between testing results obtained from simulation and experimental work. In the reported results, the moving platform was set to some initial poses and was driven to the home position and the recording showed acceptable results. This moving platform can later be used for more comprehensive experiments, i.e., vehicle dynamic testing, driving training purposes, and human factor analyses.]]>
<![CDATA[Stability analysis of a hybrid DC-DC buck converter model using dissipation inequality and convex optimization ]]>
<![CDATA[Tua A. Tamba]]>;
<![CDATA[Jonathan Chandra]]>;
<![CDATA[Bin Hu]]>
<![CDATA[ Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 14, No 1 (2023) ]]>
Publisher : <![CDATA[National Research and Innovation Agency ]]>
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DOI: 10.14203/j.mev.2023.v14.47-54
<![CDATA[The stability analysis of a DC-DC buck converter is a challenging problem due to the hybrid systems characteristic of its dynamics. Such a challenge arises from the buck converter operation which depends upon the ON/OFF logical transitions of its electronic switch component to correspondingly activate different continuous vector fields of the converter’s temporal dynamics. This paper presents a sum of squares (SOS) polynomial optimization approach for stability analysis of a hybrid model of buck converter which explicitly takes into account the converter’s electronic switching behavior. The proposed method first transforms the converter’s hybrid dynamics model into an equivalent polynomial differential algebraic equation (DAE) model. An SOS programming algorithm is then proposed to computationally prove the stability of the obtained DAE model using Lyapunov’s stability concept. Based on simulation results, it was found that the proposed method requires only 8.5 seconds for proving the stability of a buck converter model. In contrast, exhaustive simulations based on numerical integration scheme require 15.6 seconds to evaluate the stability of the same model. These results thus show the effectiveness of the proposed method as it can prove the converter stability in shorter computational times without requiring exhaustive simulations using numerical integration.]]>
<![CDATA[Estimasi Parameter Model Nonlinear Menggunakan Analisis Sensitivitas dan Pengoptimalan Berbasis Turunan ]]>
<![CDATA[Tua A. Tamba]]>
<![CDATA[ Jurnal Nasional Teknik Elektro dan Teknologi Informasi Vol 7 No 3: Agustus 2018 ]]>
Publisher : <![CDATA[Departemen Teknik Elektro dan Teknologi Informasi, Fakultas Teknik, Universitas Gadjah Mada ]]>
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<![CDATA[Model estimation based on the observation data of a system’s states is an important subject in the study of dynamical systems. Maximum likelihood (ML) estimation is a stochastic estimation method which can be used to obtain an optimal set of parameter based on noisy measurements. This paper describes the method and implementation of the ML estimator to identify an optimal parameter set in a discrete-time nonlinear state space model. In particular, the optimal parameter set is defined as the value that minimizes the error between the actual and estimated model outputs of the system. This paper discusses a gradient-based optimization that is equipped with sensitivity analysis method for searching such a parameter set. Simulation results which describe an implementation of the proposed estimation method in a nonlinear system model are also discussed.]]>
<![CDATA[Multi quadrotors coverage optimization using reinforcement learning with negotiation ]]>
<![CDATA[Bonaventura Wijaya, Glenn]]>;
<![CDATA[Agustinus Tamba, Tua]]>
<![CDATA[ IAES International Journal of Artificial Intelligence (IJ-AI) Vol 13, No 3: September 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijai.v13.i3.pp2978-2986
<![CDATA[This paper proposes an optimization scheme to maximize the area coverage of multiple quadrotor unmanned aerial vehicles that are deployed to monitor an operational area/space. Each quadrotor initially performs a single agent reinforcement learning to determine target points with optimal coverage area. Whenever each quadrotor encounters the others within a predetermined negotiation region that is defined by an inter-agent distance threshold, it will activate a multiagent reinforcement learning with action negotiation algorithm and coordinate its movement policies to maximize the total coverage area and avoids inter-agent coverage overlaps. Results of simulation evaluations are shown to illustrate the performance of the proposed learning-based coverage optimization method.]]>
<![CDATA[Design and implementation of linear quadratic regulator control for two-wheeled self-balancing robot ]]>
<![CDATA[Gilang Buana Putra, Leonardus]]>;
<![CDATA[Wahab, Faisal]]>;
<![CDATA[Agustinus Tamba, Tua]]>
<![CDATA[ Bulletin of Electrical Engineering and Informatics Vol 14, No 2: April 2025 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/eei.v14i2.8689
<![CDATA[This research aimed to develop a control system for a self-balancing robot (SBR) based on the mathematical model of an inverted pendulum on a two-wheeled cart. The linear quadratic regulator (LQR) control was implemented to maintain the SBR’s balance under normal conditions. A linearization approach was used to convert the dynamic model into a linear form, enabling the application of LQR. Testing was conducted through simulations and a physical SBR prototype equipped with an MPU6050 sensor and NEMA 17 motor. The test results demonstrated the effectiveness of the LQR control in maintaining the SBR’s balance and its responsiveness to disturbances. Although there are differences between the simulations and physical implementation, the system successfully maintained the SBR’s balance. In conclusion, the use of the inverted pendulum mathematical model and the implementation of LQR control successfully produced a stable and effective control system for SBR balance. By testing various values of the LQR parameters, optimal robot control parameters can be obtained.]]>
<![CDATA[Implementasi Kontrol Umpan Balik Keluaran Berbasis Tapis Kalman dan Regulator Kuadratik Linier pada Sistem Pendulum Terbalik ]]>
<![CDATA[Rizky Octavia, Ajeng]]>;
<![CDATA[Nathanlius, David]]>;
<![CDATA[Agustinus Tamba, Tua]]>
<![CDATA[ Jurnal Otomasi Kontrol dan Instrumentasi Vol 11 No 2 (2019): Jurnal Otomasi Kontrol dan Instrumentasi ]]>
Publisher : <![CDATA[Pusat Teknologi Instrumentasi dan Otomasi (PTIO) - Institut Teknologi Bandung ]]>
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DOI: 10.5614/joki.2019.11.2.2
<![CDATA[Sistem pendulum terbalik merupakan salah satu contoh acuan atau benchmark yang sering digunakan dalam studi, analisis dan perancangan sistem kontrol modern. Sistem ini pada dasarnya terdiri dari sebuah tongkat yang dijaga agar senantiasa berada pada posisi vertikal di atas suatu gerobak/kereta melalui pengontrolan gerak horizontal dari gerobak/kereta tersebut. Makalah ini melaporkan hasil awal dari kegiatan studi dan penelitian yang dilakukan tim penulis dalam upaya merancang suatu purwarupa sistem pendulum terbalik. Model sistem pendulum yang ditinjau diturunkan secara analitik dalam bentuk model persamaan ruang keadaan linier dengan empat variabel keadaan yang mencakup (i) posisi dan kecepatan sudut simpangan dari tongkat pendulum serta (ii) posisi dan kecepatan gerak horizontal dari gerobak/kereta penyangga tongkat pendulum. Pada model yang digunakan, diasumsikan data pengukuran dari sensor yang dapat digunakan untuk merancang pengontrol hanya ada dua, yaitu sudut simpangan tongkat pendulum serta posisi kereta penyangga. Data pengukuran dari sensor tersebut juga diasumsikan telah tercampur dengan sinyal gangguan.Berdasarkan karakteristik model dinamik serta data pengukuran tersebut, pengontrolan sistem pendulum terbalik dilakukan dengan teknik kontrol umpan balik keluaran (output feedback control). Lebih spesifik, sistem kontrol yang digunakan terdiri dari (i) tapis Kalman (Kalmanfilter) untuk mengestimasi variabel keadaan sistem yang tidak terukur serta (ii) kontrol umpan balik berbasis LQR pada gerobak penyangga untuk menjaga tongkat pendulum pada posisi vertikal. Simulasi numerik hasil rancangan sistem kontrol umpan balik yang diusulkan dilaporkan untuk mengilustrasikan kinerja estimator dan pengontrol yang dikembangkan.]]>
<![CDATA[Optimal Control of an Uncertain Linear Networked Control Systems Under Denial of Service Attacks ]]>
<![CDATA[Tua Agustinus Tamba]]>
<![CDATA[ (IJCSAM) International Journal of Computing Science and Applied Mathematics Vol. 9 No. 2 (2023) ]]>
Publisher : <![CDATA[LPPM Institut Teknologi Sepuluh Nopember ]]>
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<![CDATA[Controller design based on networked control system (NCS) framework typically relies on the use of computers and communication network systems to automatically monitor and manage the interactions and data exchanges between plant, sensor, controller and actuator elements of the considered closed loop NCS. Such design and implementation scheme are often challenging, particularly due to the requirement of guaranteed reliability and resiliency to possible failure of or malicious cyber attacks on the communication system part. This paper examines the stability of a class of uncertain linear NCS that is subjected to Denial-of-Service (DoS) attacks. In essence, a DoS is a failure phenomenon on the communication links which in NCS framework can prevents the execution of ideal control inputs to take place. Specifically, this paper examines the design of an event-triggered resilient controller for an uncertain linear NCS in the face of such a DoS phenomenon and characterizes sufficient conditions under which the closed loop NCS is guaranteed to remain globally asymptotically stable.]]>
<![CDATA[Monitoring mission for multi-drones using decentralized chaos-bidding consensus with backstepping control via lyapunov barrier functions ]]>
<![CDATA[Muhammad Zakiyullah Romdlony]]>;
<![CDATA[Rashad Abul Khayr]]>;
<![CDATA[Yul Yunazwin Nazaruddin]]>;
<![CDATA[Tua Agustinus Tamba]]>;
<![CDATA[Md. Abdus Samad Kamal]]>
<![CDATA[ Teknomekanik Vol. 8 No. 2 (2025): Regular Issue ]]>
Publisher : <![CDATA[Universitas Negeri Padang ]]>
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DOI: 10.24036/teknomekanik.v8i2.36072
<![CDATA[The mobility and flexibility of a quadrotor make it a popular choice for monitoring missions in remote areas. However, remote environments introduce constraints due to limited charging and communication stations that must be considered, alongside the possibility of collision with the environment. To ensure the quadrotor task was completed, a decentralized chaos-bidding consensus for decentralized task allocation was proposed, accompanied by control, Lyapunov, and barrier functions. These functions were simplified using the backstepping method to ensure the quadrotor's safety during task execution. The proposed method was evaluated through numerical simulation in multiple situations. The results indicate a minimum of 3% reduction in task completion time compared to other methods. When the battery constraint was applied, the proposed method successfully directed the drone to return to base before battery depletion and reassigned the task to other available quadrotors, thereby reducing the overall completion time for the entire system. Furthermore, this framework demonstrates the potential to support long-duration missions where continuous operation is required without relying heavily on ground control. The decentralized nature of the system also increases scalability, allowing multiple quadrotors to cooperate efficiently under dynamic environmental conditions. These advantages highlight the relevance of the proposed control strategy for practical field deployment, particularly in inaccessible locations.]]>
