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Mohammed Rashid Subhi
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Dual axis solar tracker system using optimal hybrid controller Mohammed Rashid Subhi; Jawad Hamad Hameed; Hameed Ali Mohammed
Indonesian Journal of Electrical Engineering and Computer Science Vol 26, No 3: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v26.i3.pp1379-1387

Abstract

Renewable energy plays a crucial role in the modern life. It has several forms, such as wind, hydroelectric, and solar energy. The latter is the most popular energy sources in wide areas. In order to maximize the generated energy from solar panels, these panels should be placed and remain in a vertical position with the sun rays. Therefore, a novel system is proposed in this paper to track the sun rays through designing and implementing a solar tracking system with hybrid controller type (controllino), which a hybrid controller that combines the programmable logic controller (PLC) and microcontroller. This leads us to mix the advantages of PLC and microcontroller thus, get fast and flexible control with several input and output which makes the cost is very low and the software is free and unprotected from the production companies. The system that has been built is controlled by self-controller which has the ability to track the position of the sun and control on the movement of the solar panel in order to keep the direction of the solar panels perpendicular to the sun. As a result, the efficiency will increase without the need to identify the geographical location where the solar panels are located and reduce the cost of generating energy by requiring a minimum number of solar panels.
Knee-joint exoskeleton control system design using adaptive barrier function controller Amer B. Rakan; Mohammed Rashid Subhi; Ali H. Mhmood
Indonesian Journal of Electrical Engineering and Computer Science Vol 30, No 3: June 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v30.i3.pp1440-1448

Abstract

Exoskeletons and wearable robots are mechatronic devices that are worn by an operator and fit closely to the body to improve daily activities. The adaptive sliding mode control (ASMC) based on the barrier function is proposed in this study to regulate the movement of the knee joint exoskeleton with friction. This controller is implemented without the requirement to know the system model uncertainty and disturbance bounded and does not require the use of the low pass for chattering elimination with keeping the controller’s performance. The suggested barrier method can be guaranteed the output variable’s convergence and keep it in a preset neighborhood of zero regardless of the disturbance’s upper bound, without overestimating the control gain. The simulation results show that the proposed performs well, the system angle following the target angular position with a modest pre-adjusted steady-state error. Furthermore, when compared to a typically strong and stable ASMC developed with the identical actuator; the obtained results reveal superior features. Concluded from the above this control method indicates the robustness of the proposed adaptive controller with barrier function against uncertainties and disturbances elimination.
Co-Authors Ali H. Mhmood Amer B. Rakan Hameed Ali Mohammed Jawad Hamad Hameed