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All Journal IAES International Journal of Robotics and Automation (IJRA) Bulletin of Electrical Engineering and Informatics Buletin Ilmiah Sarjana Teknik Elektro Journal of Robotics and Control (JRC) Journal of Fuzzy Systems and Control (JFSC) Control Systems and Optimization Letters
Chiem, Nguyen Xuan
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Mechanical Engineering

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Synthesis of sliding mode control for flexible-joint manipulators based on serial invariant manifolds Thang, Le Tran; Son, Tran Van; Khoa, Truong Dang; Chiem, Nguyen Xuan
Bulletin of Electrical Engineering and Informatics Vol 12, No 1: February 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v12i1.4363

Abstract

This paper focuses on synthesizing sliding mode control (SMC) for flexible-joint manipulators (FJM) based on serial invariant manifolds in order to increase the control quality for the system. SMC based on the serial invariant manifolds is proposed. The control law is found based on synergetic control theory (SCT) and analytical design of aggregated regulators (ADAR) method. In order to improve the control quality due to the effect of the stiffness value between two links in the system, a mechanism for constructing manifolds is built. The time response of the outer loop manifolds close to the actuator will be larger in the next round. The control quality of the system can be pre-evaluated through the parameters of the designed manifolds. Global stability is demonstrated by using the Lyapunov function in the design process. Finally, the effectiveness of the proposed controller based on SCT is demonstrated by numerical simulation results and compared with the traditional SMC.
Synthesis of Hybrid Fuzzy Logic Law for Stable Control of Magnetic Levitation System Chiem, Nguyen Xuan; Thang, Le Tran
Journal of Robotics and Control (JRC) Vol 4, No 2 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i2.17537

Abstract

In this paper, we present a method to design a hybrid fuzzy logic controller (FLC) for a magnetic levitation system (MLS) based on the linear feedforward control method combined with FLC. MLS has many applications in industry, transportation, but the system is strongly nonlinear and unstable at equilibrium. The fast response linear control law ensures that the ball is kept at the desired point, but does not remain stable at that point in the presence of noise or deviation from the desired position. The controller that combines linear feedforward control and FLC is designed to ensure ball stability and increase the system's fast-response when deviating from equilibrium and improve control quality. Simulation results in the presence of noise show that the proposed control law has a fast and stable effect on external noise. The advantages of the proposed controller are shown through the comparison results with conventional PID and FLC control laws.
Cascade Control for Trajectory-Tracking Mobile Robots Based on Synergetic Control Theory and Lyapunov Functions Chiem, Nguyen Xuan
Control Systems and Optimization Letters Vol 3, No 1 (2025)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v3i1.169

Abstract

This paper aims to synthesize a synergetic control law using a cascade approach for trajectory-tracking robots. A nonlinear model was established for a differential two-wheeled mobile robot. The robot’s operation can either stabilize along a desired trajectory or deviate due to model uncertainty and external disturbances. The cascade approach is utilized to reduce system complexity while maintaining the robustness of the control law. The kinematic control law in the outer loop is designed using Lyapunov functions, while the dynamic control law is derived using synergetic control theory. This law ensures system control quality under model uncertainties and external disturbances. Finally, simulation results demonstrate that the proposed controller provides robust stability for the mobile robot, along with excellent disturbance rejection and robustness against model uncertainties.
Implementation of a Synergetic Controller for a 2-DOF Helicopter on an Embedded Platform Using an STM32 Microcontroller Chiem, Nguyen Xuan; Phan, Tran Cong; Thai, Pham Duy; Hai, Bui Xuan
Buletin Ilmiah Sarjana Teknik Elektro Vol. 7 No. 2 (2025): June
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/biste.v7i2.13410

Abstract

This study introduces the development of a synergetic control scheme for a two-degree-of-freedom (2-DOF) helicopter, integrated into an embedded system utilizing the STM32 microcontroller. A discrete-time controller is formulated for both pitch and yaw motion, relying on stable manifold design within the framework of synergetic control. Lyapunov-based analysis is used to ensure system stability. The controller is implemented on an STM32F4 device and coded in the C programming language. System performance is assessed through numerical simulations and real-time testing, with results demonstrating strong control precision and feasibility on the physical experimental platform.
Design of Embedded Control System with Fuzzy Controller and Nonlinear Controller for the Line Follower Robot Chiem, Nguyen Xuan; Nguyen, Nguyen Cong Binh
Journal of Fuzzy Systems and Control Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i2.303

Abstract

In this paper, an embedded system for motion control of a Line Follower Robot (LFR) is presented. Line Follower Robot can change direction by changing the relative rotational speed of the wheels, and thus does not require additional steering motion. A robot designed at the Control Systems Laboratory, Le Quy Don Technical University, is chosen as the research platform in this paper. A fuzzy logic controller has been used to ensure the smallest position and angle deviation. The rules of the fuzzy logic controller are built based on the successor's experience when considering the Lyapunov function. The output of this controller is linear velocity and angular velocity, which are the achieved values ​​for the robot dynamics control loop. A nonlinear controller with blocked signals is synthesized based on the synergetic control theory (STC). The combination of control laws ensures the system is stable enough to measure noise and uncertainties in the robot's model and parameters. In addition, we realize that the control system is embedded. Simulation and experimental results with different scenarios demonstrate the effectiveness of the proposed control law.
Nonlinear Control Law Design for Inverted Pendulum Systems via RBF Neural Networks Van Khuong, Huynh; Chiem, Nguyen Xuan; Obukhov, Alexander
Journal of Fuzzy Systems and Control Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i2.314

Abstract

This paper presents the design of a nonlinear control law based on the Backstepping method combined with Radial Basis Function (RBF) neural networks to ensure the stability of an inverted pendulum system with unknown model parameters. The control design is developed using a general form of the system’s mathematical model, in which the unknown nonlinear functions are approximated by RBF neural networks. Experimental results conducted on the STM32F4 embedded platform demonstrate that the proposed approach not only guarantees system stability but also verifies the effectiveness and practical applicability of the control law.
Synthesis of control laws for magnetic levitation systems based on serial invariant manifolds Chiem, Nguyen Xuan; Pham, Thuy Xuan
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 4: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i4.pp333-342

Abstract

In this paper, a nonlinear controller is designed for a magnetic levitation system (MLS) based on serial invariant manifolds. Synthesized controller based on the method of synergetic control theory (SCT) through invariant manifolds, asymptotically stable. In this method, the control law is synthesized to ensure the motion of the closed-loop control object from an arbitrary initial state into the vicinity of the desired invariant manifold. Thereby, the control system not only ensures the necessary control quality but also ensures the asymptotic stability of the entire system. The quality and efficiency of the control law are proven through simulation results and comparison with the sliding mode controller (SMC).
Co-Authors Hai, Bui Xuan Khoa, Truong Dang Nguyen, Nguyen Cong Binh Obukhov, Alexander Pham, Thuy Xuan Phan, Tran Cong Son, Tran Van Thai, Pham Duy Thang, Le Tran Van Khuong, Huynh