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All Journal TEKNIK Mechatronics, Electrical Power, and Vehicular Technology International Journal of Nusantara Islam Journal of ICT Research and Applications JURNAL INSTEK (Informatika Sains dan Teknologi) TEKTRIKA - Jurnal Penelitian dan Pengembangan Telekomunikasi, Kendali, Komputer, Elektrik, dan Elektronika Teknomekanik Prosiding Konferensi Nasional PKM-CSR eProceedings of Engineering Jurnal INFOTEL Telkatika: Jurnal Telekomunikasi Elektro Komputasi & Informatika International Journal of Nusantara Islam Jurnal Nasional Sains dan Teknik Jurnal Teknik Elektro Proceeding of Community Service and Engagement
Muhammad Zakiyullah Romdlony
Universitas Telkom
Religion Arts Humanities Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Environmental Science Industrial & Manufacturing Engineering Mechanical Engineering Nursing Public Health Social Sciences

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Monitoring mission for multi-drones using decentralized chaos-bidding consensus with backstepping control via lyapunov barrier functions Muhammad Zakiyullah Romdlony; Rashad Abul Khayr; Yul Yunazwin Nazaruddin; Tua Agustinus Tamba; Md. Abdus Samad Kamal
Teknomekanik Vol. 8 No. 2 (2025): Regular Issue
Publisher : Universitas Negeri Padang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24036/teknomekanik.v8i2.36072

Abstract

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.
A Two-Stage High-Gain Quadratic Boost Converter Using Inverse-Coupled-Inductors for Low Input-Current Ripple Alwy Muhammad Ravi; Herlambang Setiadi; Muhammad Zakiyullah Romdlony
Jurnal Teknik Elektro Vol. 18 No. 1 (2026)
Publisher : LPPM Universitas Negeri Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.15294/jte.v18i1.48133

Abstract

High step-up DC–DC converters are required to interface low-voltage renewable energy sources with higher-voltage dc buses in dc microgrid applications. This paper presents a simulation-based two-stage high-gain DC–DC converter integrating an inverse-coupled-inductor front end with a quadratic boost rear stage. The inverse-coupled front end is employed to reduce source-side input-current ripple and mitigate dc-flux accumulation, thereby lowering the risk of magnetic-core saturation in the front-stage inductors under high-power operation. Compared with uncoupled and direct-coupled configurations, the inverse-coupled arrangement enables ripple-current cancellation between the two input phases, which improves its feasibility for higher-power implementation. The quadratic boost rear stage provides high voltage gain and supports a more stable dc-bus voltage response. Analytical derivations of the operating principle, voltage gain, and input-current ripple ratio are presented, followed by comparative simulation of the three inductor configurations. The results show that the inverse-coupled configuration achieves the lowest average input-current ripple ratio of , with a minimum value of  at  = 0,5. The converter also produces an output voltage close to 400 V from a 20 V input, corresponding to a voltage gain of approximately 20. These results indicate that the proposed topology offers a promising trade-off between high voltage gain, reduced front-stage magnetic stress, source-side ripple suppression, and output-voltage stability for renewable-energy-fed dc-bus applications.
Analisis Performansi Penerapan State-Estimator pada Hardware-In-The-Loop (HIL) Sistem Ball and Beam (BBS) Muhammad Zakiyullah Romdlony; Fakih Irsyadi; Dien Rahmawati; Handika Yulma Kristiawan
TEKNIK Vol 43, No 1 (2022)
Publisher : Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14710/teknik.v43i1.41681

Abstract

Ball and Beam System (BBS) merupakan model kendalian yang seringkali digunakan untuk memodelkan berbagai sistem dinamis yang kompleks dan unstable. BBS merupakan underactuated system dimana sistem kompleks untuk dikendalikan sehingga ideal untuk penerapan berbagai jenis kendali, mulai dari kendali klasik, modern maupun cerdas. Mayoritas perancangan sistem kendali dilakukan secara simulasi. Metode ini kurang realistis karena dilakukan pada kondisi yang ideal sehingga hasilnya tidak dapat diimplementasikan secara langsung pada sistem riil. Salah satu metode lain yang dapat digunakan adalah simulasi Hardware in the loop (HIL). Penggunaan perangakat pengendali memungkinkan hasil perancangan dapat secara langsung digunakan untuk mengendalikan sistem riil. Paper ini mengusulkan perancangan kendali full state feedback untuk stabilisasi BBS menggunakan setup HIL simulator. Pengembangan yang dilakukan adalah penambahan state estimator, yang ditanamkan pada perangkat pengendali, untuk mengestimasi nilai posisi dan kecepatan bola sebagai masukan pengendali. Hasil pengujian menunjukkan bahwa perancangan state estimator pada simulasi HIL berhasil dilakukan. State estimator dapat mengestimasi output posisi BBS dengan waktu konvergensi yang cepat, sekitar 1,32 detik. Performansi yang dihasilkan sistem serupa dengan simulasi maupun implementasi sistem riil. Hal ini menunjukkan bahwa sistem yang diusulkan dapat merepresentasikan dinamika sistem pada full state feedback control.
Co-Authors Aam Muharam Aam Muharam Adityo Wandasa Dharma P Afdal Zikra Agung Surya Wibowo Alwy Muhammad Ravi Amin Amin Amin Amin Amin Amin Azam Zamhuri Fuadi Bambang Riyanto Trilaksono Bandiyah Sri Aprilia Basith Abdurrahman Asy'ari Basith Abdurrohman Asy’ari Basuki Rahmat Basuki Rahmat Masdi Siduppa Bin Hu Carlo Anthony Balelang Cinun, Benedictus Christo Geroda Dadang Darmawan Danang Triantoro Murdiansyah Dien Rahmawati Edwin Muhammad Puji Syamsudin Eka Rakhman Priandana Eko Nugroho Erwin Susanto Faisal Budiman Fakih Irsyadi Fakih Irsyadi Fakih Irsyadi Fakih Irsyadi Farhan Dwi Cahyo Fauziah, Nisa Evi Fikri Refo Julianto Fiky Y. Suratman Firdaus, Agni Fitri Yakub Gitatama, Radika Handika Yulma Kristiawan Herlambang Setiadi Heru Syah Putra IRSYADI, FAKIH Irwan Purnama Jangkung Raharjo Kamal, Md. Abdus Samad Kemas Rahmat Saleh Wiharja Khayr, Rashad Abul Khilda Afifah Kusumawardhana, Ridho Wahyu Linahtadiya Andiani Listya Lokeswara M Darfyma Putra Md. Abdus Samad Kamal Muhammad Azhar Ismail Muhammad Kodrat Muhammad Ramadhan Gandidi Muhammad Ridho Rosa Nopendri Nopendri Praja Cahya Kesuma Puji Syukrilah Rahman, Mohammad Taufiq Rashad Abul Khayr Rashad Abul Khayr Ridlho Khoirul Fachri Rosihon Anwar, Rosihon Sony Sumaryo Sudarmono Sasmono Tiwa Ramdhani Tua Agustinus Tamba Tua Agustinus Tamba Willy Anugrah Cahyadi Yogi Ghifari Sidik Yul Yunazwin Nazaruddin Yul Yunazwin Nazaruddin