Article Per Year (5 Year)
p-Index From 2021 - 2026
0.817
P-Index
This Author published in this journals
All Journal IAES International Journal of Robotics and Automation (IJRA) Buletin Ilmiah Sarjana Teknik Elektro Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Nguyen Xuan Chiem
Le Quy Don Technical University
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

Published : 4 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 4 Documents
Search

 1 
Synthesis of LQR Controller Based on BAT Algorithm for Furuta Pendulum Stabilization Nguyen Xuan Chiem; Le Tran Thang
Journal of Robotics and Control (JRC) Vol 4, No 5 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i5.19661

Abstract

In this study, a controller design method based on the LQR method and BAT algorithm is presented for the Furuta pendulum stabilization system. Determine the LQR controller, it is often based on the designer's experience or using trial and error to find the Q, R matrices. The BAT search algorithm is based on the characteristics of the bat population in the wild. However, there are advantages to finding multivariate objective functions. The BAT algorithm has an improvement for the LQR controller to optimize the linear square function with fast response time, low energy consumption, overshoot, and a small number of oscillations. Swarm optimization algorithms have advantages in finding global extrema of multivariate functions. Therefore, with a large number of elements of the Q and R matrices, they can also be quickly found and these matrices still satisfy the Riccati equation. The controller with optimal parameters is verified through simulation results with different scenarios. The performance of the proposed controller is compared with a conventional LQR controller and implemented on a real system.
Synthesis of Adaptive Sliding Mode Control for Twin Rotor MIMO System with Mass Uncertainty based on Synergetic Control Theory Nguyen Xuan Chiem; Bui Xuan Hai; T. C. Phan
International Journal of Robotics and Control Systems Vol 4, No 1 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i1.1307

Abstract

In this paper, the authors present a new method to synthesize an adaptive sliding controller for Twin Rotor MIMO System (TRMS) based on Synergetic Control Theory (SCT). This system represents a prototype of a helicopter with two degrees of freedom and is widely used in automatic control laboratories. The complexity of the control problem is due to the nonlinear cross-coupling between the main and tail rotors. Uncertainty in system parameters further increases the complexity of the control problem. In Synergetic Control Theory, manifolds are designed for each channel. The control law is found based on sequential manifolds and the Analytical Design of Aggregated Regulators (ADAR) method. The adaptive law when the parameters are uncertain is given based on the analysis of system stability thanks to the Lyapunov function of the first manifold. Finally, the effectiveness of the proposed controller is demonstrated by numerical simulation results and comparison with conventional Sliding Mode Control (SMC).
Modeling and simulation of an active quarter-car suspension system using a synergetic controller Dao Trong Dung; Trong Nghia Le; Alexandr D. Lukyanov; Nguyen Xuan Chiem
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 1: March 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i1.pp210-221

Abstract

This paper presents the modeling and simulation of an active quarter-car suspension system (AQCSS) designed to enhance operational performance and ride comfort across various road conditions. First, a dynamic quarter-car model was developed, incorporating all the components of AQCSS and road-induced stimuli, based on the Euler–Lagrange method. Subsequently, a synergetic controller is designed by selecting a manifold that meets the system’s technical requirements. The proposed controller ensures a balance between ride comfort and road-holding performance by leveraging this manifold design. This control framework enables flexible adjustment of the damping force in real time according to the system states and external excitations. The stability of the closed-loop system is rigorously established through Lyapunov analysis. Numerical simulations are carried out in MATLAB to assess the proposed control law by benchmarking it against a passive suspension configuration and a sliding mode control approach, thereby demonstrating its effectiveness.
Static-Slope Dynamics and Uncertainty of a Compact-Excavator Manipulator for Near-Ground Sensing Pham Chi Thanh; Tran Ngoc Binh; Nguyen Xuan Chiem
Buletin Ilmiah Sarjana Teknik Elektro Vol. 8 No. 4 (2026): August
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v8i4.16278

Abstract

Near-ground unexploded ordnance (UXO) sensing requires a mobile carrier that maintains a controlled detector air gap over uneven terrain. This paper develops a static-slope rigid-body baseline for a Bobcat E20-class mini excavator carrying a 15 kg VMF4-class payload on a self-leveling gimbal. The research contribution is a body-frame, parked-base formulation that separates arm-level Cartesian positioning from payload-level attitude stabilization and identifies which rigid-body terms change on a static slope. The four-DOF attachment is reduced to a planar three-DOF boom-stick-tool subsystem for line sweeping. A kinetic-energy argument and potential-energy differentiation show that, with parked chassis and body-fixed coordinates, the inertia and Coriolis/centrifugal terms retain their level-ground form, while only the gravity torque is recomputed from the rotated gravity vector and center-of-mass Jacobians. Evaluation combines static torque analysis, Monte Carlo propagation, computed-torque tracking, and runtime timing. At 10° pitch, the 95th-percentile end-effector uncertainty is 2.63-3.65 cm; at 15° pitch, the tested gravity-torque change reaches 322.66 Nm. In the Python reproducibility environment, gravity-only update takes 24.0 microseconds per sample, compared with 38.9 microseconds for full rigid-body term recomputation. The 5.7°-6.3° trigger is a heuristic gravity-bias indicator, not a stability or clearance guarantee. Results support lightweight slope-aware gravity recomputation, while hydraulic dynamics, friction, soil interaction, moving-base effects, embedded timing, and hardware validation remain future work.
Co-Authors Alexandr D. Lukyanov Bui Xuan Hai Dao Trong Dung Le Tran Thang Pham Chi Thanh T. C. Phan Tran Ngoc Binh Trong Nghia Le