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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA) Buletin Ilmiah Sarjana Teknik Elektro
Ahmed Alkamachi
University of Baghdad
Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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A self-balancing platform on a mobile car Bushra Amer Tawfeeq; Maher Yahya Salloom; Ahmed Alkamachi
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp5911-5922

Abstract

In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, and industry. In this paper, the physical prototype of a proposed self-balancing platform that described the self-balancing attitude in the (X-axis, Y-axis, or biaxial) under the influence of road disturbance has been introduced. In the physical prototype, the inertial measurement unit (IMU) sensor will sense the disturbance in (X-axis, Y-axis, and biaxial). With the determined error, the corresponding electronic circuit, DC servo motors, and the Arduino software, the platform overcame the tilt angle(disturbance). Optimization of the proportional-integral-derivative (PID) controllers’ coefficients by the genetic algorithm method effectively affected the performance of the platform, as the platform system is stable and the platform was able to compensate for the tilt angle in (X-axis, Y-axis, and both axes) and overcome the error in a time that does not exceed four seconds. Therefore, a proposed self-balancing platform’s physical prototype has a high balancing accuracy and meets operational requirements despite the platform’s simple design.
Robust Speed Control of Permanent Magnet DC Motors Using an Arctic Puffin Optimized PI Controller and Nonlinear Disturbance Observer Ahmed Alkamachi
Buletin Ilmiah Sarjana Teknik Elektro Vol. 8 No. 3 (2026): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v8i3.15723

Abstract

Permanent magnet DC (PMDC) motors are widely used in many devices, such as in robotics, medical equipment, and industrial machinery, because they are small and easy to control. However, their operation can be affected by external disturbances such as load fluctuations. Conventional Proportional Integral (PI) controllers, although simple, are not sufficiently robust against such disturbances. This study proposes a novel control scheme for improving PMDC motor performance. It combines a simple PI controller with a Nonlinear Disturbance Observer (NDOB). A key advantage of the NDOB is its enhancement of robustness via actively estimating and compensating lumped disturbances. This makes the system more robust to disturbances and modelling errors while maintaining simplicity of structure and use. The controller parameters (PI gains and the NDOB low pass filter cutoff frequency) have been optimized using a custom algorithm called Arctic Puffin Optimization (APO) that ensure global optimal selection of the tuned parameters. The proposed combined weighted cost function allowed for the best balance between response speed, disturbance rejection, and control effort. The new controller has been tested in MATLAB/Simulink and compared with standard PI controllers. Under step load disturbance, the proposed controller achieves an 88.6% reduction in ITAE compared to conventional PI control. In the presence of sinusoidal load disturbance, the ITAE is further reduced by 94.9%, demonstrating strong disturbance rejection capability. Moreover, under parameter uncertainties, the settling time is improved by 36.8%, while the ITAE is reduced by 56.8%. The results demonstrate improved robustness and faster transient response compared to standard PI control making the proposed controller a superior solution for many applications such as robotic actuators and industrial positioning systems.
Performance assessment of fractional order PID control for a 2DOF flexible joint robotic manipulator under various operating conditions Ahmed Alkamachi; Ali Hussien Mary
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 3: September 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i3.pp597-606

Abstract

Flexible joint robot manipulators (FJM) exhibit high nonlinear dynamics and coupling effects, which make their control a challenging task. This paper proposes a fractional order PID (FOPID) cascade control strategy for a 2DOF FJM. The controller performance is compared with that of a sliding mode controller (SMC) under identical operating conditions. Both controllers’ parameters are optimally tuned using the particle swarm optimization (PSO) algorithm to ensure a fair performance evaluation. The proposed control consists of an inner loop that regulates motor dynamics and an outer loop that ensures accurate link position tracking. Additionally, a gravity compensator is integrated to improve control efficiency by reducing the nonlinear load on the controller. Both controllers are evaluated under nominal conditions, external disturbances, and variable payloads. Numerical results show a performance trade-off: under nominal conditions, FOPID achieved superior tracking performance (ITAE = 0.1165 for link 1) compared to SMC (ITAE = 0.2423), while SMC provided a smooth, zero-overshoot response and consumed much less actuator energy (ISCE = 23.35 vs. FOPID's 154.78). Furthermore, when subjected to a severe 1.0 N.m external disturbance, FOPID showed superb robustness by maintaining an ITAE of 0.178, whereas SMC suffered severe performance degradation. These findings illustrate the trade-offs between energy efficiency and robust precision in FJM control.
Co-Authors Ali Hussien Mary Bushra Amer Tawfeeq Maher Yahya Salloom