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All Journal Mechatronics, Electrical Power, and Vehicular Technology Journal of Robotics and Control (JRC)
Hilton Tnunay, Hilton
Universitas Gadjah Mada
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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A Modified Gain Schedulling Controller by Considering the Sparseness Property of UAV Quadrotors Abdurrohman, M Qodar; Inovan, Reka; Ataka, Ahmad; Tnunay, Hilton; Wimbo, Ardhimas; Iswanto, Iswanto; Cahyadi, Adha; Yamamoto, Yoshio
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 1 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3347.433 KB) | DOI: 10.14203/j.mev.2015.v6.9-18

Abstract

This work presented the gain scheduling based LQR for Quadrotor systems. From the original nonlinear model, the system is always controllable and observable in various equilibrium points. Moreover, the linearized systems have a unique property that is known as sparse system. Hence, in order to implement the most efficient state feedback controller, post-filter and pre-filter were introduced to transform the state coordinate to decrease coupling between states. Finally, the gain scheduling systems using these facts was proposed. The system behavior was tested using the proposed controller. The numerical studies showed the effectiveness of the controller to achieve desired altitude, attitude, and its ability during the disturbance
Performance Analysis of PID and SMC Control Algorithms on AUV under the Influence of Internal Solitary Wave in the Bali Deep Sea Wahyuadnyana, Kadek Dwi; Indriawati, Katherin; Darwito, Purwadi Agus; Aufa, Ardyas Nur; Tnunay, Hilton
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23800

Abstract

Autonomous Underwater Vehicles (AUVs) play a crucial role in deep-sea exploration, but their stability is often compromised by Internal Solitary Waves (ISWs) and nonlinear disturbances in stratified waters. This study aims to evaluate the performance of two control algorithms, Proportional-Integral-Derivative (PID) and Sliding Mode Control (SMC), in mitigating ISW effects on AUV trajectory tracking. Simulations were conducted in Simulink (MATLAB), modeling AUV dynamics under ISW disturbances with intensities ranging from 0% to 100%. The results reveal that both PID and SMC algorithms experience significant performance degradation as ISW intensity increases, with Root Mean Square Error (RMSE) values rising exponentially between 50% and 75% disturbance levels. While SMC offers better resilience to nonlinear disturbances than PID, neither algorithm fully compensates for high ISW intensities. These findings highlight the limitations of conventional control strategies and underscore the need for more robust, adaptive algorithms for reliable deep-sea AUV operations. Future work will explore Nonlinear Model Predictive Control (NMPC) for improved stability in complex marine environments.
Co-Authors Adha Cahyadi, Adha Ahmad Ataka Awwalur Rizqi, Ahmad Ataka Ardhimas Wimbo, Ardhimas Aufa, Ardyas Nur Iswanto Iswanto Katherin Indriawati M Qodar Abdurrohman, M Qodar Purwadi Agus Darwito Reka Inovan, Reka Wahyuadnyana, Kadek Dwi Yoshio Yamamoto