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All Journal Journal of Robotics and Control (JRC) Mechanical Engineering for Society and Industry
Arif Wahjudi
Institut Teknologi Sepuluh Nopember Surabaya
Aerospace Engineering Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Transportation

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Optimizing the Tuning of Fuzzy-PID Controllers for Motion Control of Friction Stir Welding Robots Marliana, Eka; Wahjudi, Arif; Nurahmi, Latifah; Batan, I Made Londen; Wei, Guowu
Journal of Robotics and Control (JRC) Vol 5, No 4 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i4.21697

Abstract

Friction stir welding (FSW) is defined as a solid-state welding method that is required to be accurate, especially for its motion. This requirement can be satisfied by implementing an accurate controller. The aim of this research was to develop an accurate control system based on a fuzzy-proportional integral derivative (PID) controller for parallel manipulator FSW robots. In order to achieve a higher accuracy in motion control, the tuning optimisation process for a fuzzy-PID controller was conducted using a genetic algorithm (GA) and particle swarm optimisation (PSO). The optimisation algorithms were applied to simultane-ously tune the fuzzy rules and output of the membership function from the fuzzy inference system (FIS). The PID controller was designed and tuned using a MATLAB® PID Tuner to obtain the desired response. It was then developed into a fuzzy-PID controller with Sugeno type-1 FIS with 2 inputs and 1 output. The tuning optimisation of the fuzzy-PID controller using GA and PSO was performed to achieve the global minimum integral absolute error (IAE) of the angular velocity. MATLAB® Simulink® was employed to test and simulate the controllers for three motors in the FSW robot model. The IAE values of the PID controller implemented for each motor were 0.03644, 0.04893, and 0.04893. The IAEs of the implemented fuzzy-PID-GA (output and rules) controller were 2.061, 2.048, and 2.048; of the implemented fuzzy-PID-GA (output) controller were 0.03768, 0.05059, and 0.05059; of the fuzzy-PID-PSO (output and rules) controller were 0.01886, 0.0253, and 0.02533; and of the fuzzy-PID-PSO (output) controller were 0.03767, 0.05059, and 0.05059. Therefore, the fuzzy-PID-PSO (output and rules) controller gave the most accurate results and outperformed the others. Keywords—Angular velocity, control system, friction stir welding, fuzzy-PID, genetic algorithm, motion, motor, parallel manipulator, particle swarm optimisation.
Investigation of discrepancies in isotropic material and structural properties in lattice frameworks Arifin, Ahmad Anas; Batan, I Made Londen; Bici, Michele; Wahjudi, Arif; Pramono, Agus Sigit
Mechanical Engineering for Society and Industry Vol 5 No 1 (2025)
Publisher : Universitas Muhammadiyah Magelang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31603/mesi.13018

Abstract

Lattice structures have developed as a vital component in advanced engineering applications due to their superior strength-to-weight ratios and adjustable mechanical properties. This paper focuses on examining the correlation between the isotropic features of lattices at the material level and their structural performance. The research used near-isotropic Crossing-cylinder (CC)- Body Centered Cubic (BCC) cells in various orientations and sizes. Both experimental analysis and finite element analysis were used to examine the compressive strength of the structure in each orientation. The results reveal that cell orientation is important for determining failure modes and mechanical performance at the structural level. At 0°, the lattice has higher compressive strength and energy absorption due to effective load transfer via CC-aligned struts. In contrast, higher orientations (e.g., 15°, 30°, and 45°) are dominated by collapse-type failures, indicating anisotropic behavior in an otherwise isotropic design. Smaller cell sizes have more strength at lower orientations due to their higher relative density, but larger cells perform better at higher orientations.
Co-Authors Agus Sigit Pramono Arifin, Ahmad Anas Bici, Michele Eka Marliana I Made Londen Batan Nurahmi, Latifah Wei, Guowu