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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) IAES International Journal of Robotics and Automation (IJRA) Indonesian Journal of Electrical Engineering and Computer Science
Jegathesan, Varghese
Unknown Affiliation
Automotive Engineering Control & Systems Engineering Electrical & Electronics Engineering

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CHB multilevel inverter with sliding mode controller for DSTATCOM applications Chenchireddy, Kalagotla; Jegathesan, Varghese
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 14, No 4: December 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v14.i4.pp2195-2203

Abstract

In this article, the robust nonlinear controller for cascaded H-bridge-based distributed static compensator (DSTATCOM) with input-output linearization and sliding mode control scheme using an improved voltage balancing scheme is presented. The feedback linearization method and sliding mode control scheme are used to cancel nonlinearities and deal with invariant stability due to mathematical modeling uncertainties due to DSTATCOM parameter and external load disturbance. The improved voltage balancing is used to balance the voltages of the DC side capacitor of DSTATCOM. The complete simulation studies are out to validate the control scheme based on the improved voltage balance integrated with sliding mode control under disturbances caused by the load changes and DSTATCOM parametric changes. The performance characteristics of the DSTATCOM with sliding mode controller are tested using the MATLAB/Simulink platform.
Development of robotic arm control using Arduino controller Chenchireddy, Kalagotla; Dora, Radhika; Mulla, Gouse Basha; Jegathesan, Varghese; Sydu, Shabbier Ahmed
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 3: September 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i3.pp264-271

Abstract

The advance of Arduino-based technology has spurred innovation in the realm of robotic arm control, offering a cost-effective and accessible platform for enthusiasts and professionals alike. This paper presents the development of robot arm control using an Arduino controller. The work involves the integration of Arduino microcontrollers and sensors to enable precise and dynamic control of a robotic arm. The proposed robot is controlled by 4 servo motors, the motors rotate left, right, front, and back. The paper discusses the challenges encountered during the development process and proposes solutions, paving the way for further advancements in this burgeoning field. With Arduino's widespread availability and affordability, the presented robotic arm control system holds promise for expanding the accessibility of robotics education and fostering innovation in automation technologies. This paper provides a glimpse into the promising synergy between Arduino and robotic arm control, highlighting the contributions and implications of this technology in shaping the future of automation.
Four quadrant operation of bidirectional DC-DC converter for light electric vehicles Ann Sam, Caroline; Jegathesan, Varghese
Indonesian Journal of Electrical Engineering and Computer Science Vol 37, No 2: February 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v37.i2.pp740-748

Abstract

This paper discusses the closed-loop control of a bidirectional full bridge DC-DC converter which aids in the four-quadrant operation of an electric vehicle (EV). Several topologies of bidirectional converters have been recently investigated for optimizing vehicle performance. The bidirectional converters with buck and boost modes of operation aid the four-quadrant operation of drives. The proposed bidirectional converter aids buck and boost modes of operation in both forward and reverse directions of the drive. The buck/boost operation in the forward direction is suitable to operate the traction drive in motoring mode. Also, the buck/boost operation in the reverse direction aids the drive to operate in charging mode. The performance analysis of the bi-directional converter-fed EV drive is done using MATLAB/Simulink software. The different modes of operation of the converter which is utilized for the four-quadrant operation of the drive are validated using a 12-60V hardware prototype. DSP TMS2837D controller is used to control the bi-directional converter and the code generation for the controller is done in MATLAB-DSP integrated platform. The hardware results validate theoretical analysis and simulation studies.
Design of a prototype firefighting robot based on an Arduino microcontroller using machine learning technique Chenchireddy, Kalagotla; Dora, Radhika; Jagan, Vadthya; Mulla, Gouse Basha; Jegathesan, Varghese; Sydu, Shabbier Ahmed
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 1: March 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i1.pp31-37

Abstract

The design and implementation of this paper are mainly based on control of the autonomous firefighting robot. In recent years, robotics has turned out to be an ingredient in which many people have shown their interest. Robotics has gained popularity due to the advancement of many technologies of computing and nanotechnologies. The output of the fire sensor is connected to the Arduino controller that controls the movement of the vehicle and the operation of spraying water. An infrared sensing circuit is designed with the infrared sensors placed in front of the vehicle to avoid collision with the obstacles. A total of two inbuilt reduction geared direct current motors are used in the paper for the robot movement in all the directions forward, backward, right, and left directions. For more practicality, a small water tank with a pumping motor is also arranged over the chassis and the water sprinkler pipe that is firmly fixed over the plate where the sensor is arranged can deliver water with some force. When the sensor detects the fire, the sprinkler is positioned toward fire flames; the pumping motor will be energized automatically to extinguish the fire. The main advantage of the proposed system automatically controls the fire by using advanced control techniques.
Co-Authors Ann Sam, Caroline Chenchireddy, Kalagotla Dora, Radhika Jagan, Vadthya Mulla, Gouse Basha Sydu, Shabbier Ahmed