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All Journal Mechatronics, Electrical Power, and Vehicular Technology Jurnal Studi Sosial Program Pascasarjana P-IPS Mesin
Indrawanto Indrawanto
Bandung Institute Of Technology
Electrical & Electronics Engineering Mechanical Engineering Social Sciences

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Journal : Mesin

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ROBUST IMPEDANCE ADAPTIVE CONTROL FOR CONSTRAINED MOTIONS Indrawanto, Indrawanto; Swevers, J; Brussel, H. Van
Mesin Vol 17, No 2 (2002)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (714.373 KB)

Abstract

This paper presents a robust adaptive impedance control for robot manipulators. The robust adaptive impedance control is designed to obtain fast and accurate force tracking. The proposed controller does not require special knowledge of robot dynamics and environment models. Lyapunov-based Model Reference Adaptive Control is used to establish a global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the force tracking performance of the proposed controller.
PEMODELAN DAN SIMULASI SISTEM PEMBANGKIT TURBIN GAS PLTGU TANJUNG PRIOK Indrawanto, Indrawanto; Cahyono, H
Mesin Vol 24, No 2 (2009)
Publisher : Mesin

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Abstract

This paper presents the modeling and simulation of the gas turbine generating system of Tanjung Priok Combined Cycle Power Plant. The gas turbine model is approximated using steam turbine systems. The model developed only accepts load changes as input to the system. Three types of control systems; speed-droop governor, speed-droop governor with integral control, and speed-droop governor with integral and derivative control have been tried to control the frequency of the system. The simulation results show that, in the presence of load changes, the speed-droop governor with integral and derivative control is able to bring back the system frequency to 50 Hz without oscillation.
KENDALI ADAPTIF TANGGUH TERDESENSTRALISIR UNTUK MANIPULATOR ROBOT Indrawanto, Indrawanto; Swevers, J; Brussel, H. Van
Mesin Vol 14, No 3 (1999)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (418.365 KB)

Abstract

This paper presents a robust decentralized adaptive controller for robot manipulators. The proposed controller does not require special knowledge of the robot dynamics model. Each joint of the manipulator is controlled by using an adaptive PD feedback controller and an adaptive gain acceleration feedforward. An auxiliary input is introduced to improve the convergence rate and to improve the robustness to torque disturbances and to a class of unmodelled dynamics. Lyapunov-based Model Reference Adaptive Control is used to establish the global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the tracking performance of the proposed controller.
KENDALI ADAPTIF TANGGUH TERDESENSTRALISIR UNTUK MANIPULATOR ROBOT Indrawanto Indrawanto; J Swevers; H. Van Brussel
Mesin Vol. 14 No. 3 (1999)
Publisher : Mesin

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Abstract

This paper presents a robust decentralized adaptive controller for robot manipulators. The proposed controller does not require special knowledge of the robot dynamics model. Each joint of the manipulator is controlled by using an adaptive PD feedback controller and an adaptive gain acceleration feedforward. An auxiliary input is introduced to improve the convergence rate and to improve the robustness to torque disturbances and to a class of unmodelled dynamics. Lyapunov-based Model Reference Adaptive Control is used to establish the global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the tracking performance of the proposed controller.
ROBUST IMPEDANCE ADAPTIVE CONTROL FOR CONSTRAINED MOTIONS Indrawanto Indrawanto; J Swevers; H. Van Brussel
Mesin Vol. 17 No. 2 (2002)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This paper presents a robust adaptive impedance control for robot manipulators. The robust adaptive impedance control is designed to obtain fast and accurate force tracking. The proposed controller does not require special knowledge of robot dynamics and environment models. Lyapunov-based Model Reference Adaptive Control is used to establish a global stability of the tracking errors. Experimental results on an industrial robot are presented to verify the force tracking performance of the proposed controller.
PEMODELAN DAN SIMULASI SISTEM PEMBANGKIT TURBIN GAS PLTGU TANJUNG PRIOK Indrawanto Indrawanto; H Cahyono
Mesin Vol. 24 No. 2 (2009)
Publisher : Mesin

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This paper presents the modeling and simulation of the gas turbine generating system of Tanjung Priok Combined Cycle Power Plant. The gas turbine model is approximated using steam turbine systems. The model developed only accepts load changes as input to the system. Three types of control systems; speed-droop governor, speed-droop governor with integral control, and speed-droop governor with integral and derivative control have been tried to control the frequency of the system. The simulation results show that, in the presence of load changes, the speed-droop governor with integral and derivative control is able to bring back the system frequency to 50 Hz without oscillation.
Co-Authors Brussel, H. Van H Cahyono H Cahyono, H H. Van Brussel Hoe Dinh Nguyen J Swevers Maskun Maskun Nur Jamiludin Ramadhan Pargito Pargito Swevers, J