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All Journal Indonesian Journal of Engineering and Science (IJES) Journal of Fuzzy Systems and Control (JFSC)
Nguyen, Duc-Anh-Quan
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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Adaptive Evaluation of LQR Control using Particle Swarm Optimization for Pendubot Nguyen, Duc-Anh-Quan; Nguyen, Luu-Quang-Thinh; Nguyen, Phong-Luu; Le, Duc-Quy; Lieu, Phu-Thuan-An; Lam, Quang-Buu; Tran, Anh-Thu; Nguyen, Tran-Tien; Pham, Dinh-Luan; Nguyen, Binh-Hau
Journal of Fuzzy Systems and Control Vol. 2 No. 2 (2024): Vol. 2, No. 2, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i2.203

Abstract

Pendubot is a classical system with high nonlinearity used in researching control algorithms. The Pendubot has a single input and multiple outputs (SIMO) and is under-actuated. In this paper, the focus is on studying the application of the Particle Swarm Optimization (PSO) algorithm to find optimal parameters for the LQR controller. The results obtained by the PSO algorithm will be compared when running with different parameters. Evaluations of the performance when applying the PSO algorithm to find optimal parameters will be drawn based on simulation results in Matlab/Simulink and experimental outcomes with various scenarios.
Application of LQG Control for Pendubot System Nguyen, Duc-Anh-Quan; Nguyen, Luu-Quang-Thinh; Nguyen, Hoang-Anh; Nguyen, Phu-Hung; Tran, Quoc-Thai; Pham, Cao-Sang; Tran, Hoang-Bao; Pham, Van-Huy; Nguyen, Anh-Quoc; Nguyen, Phong Luu
Journal of Fuzzy Systems and Control Vol. 2 No. 1 (2024): Vol. 2, No. 1, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i1.171

Abstract

The paper focuses on the study of the Pendubot system, a classic system widely used in control research, particularly the 2-link Pendubot. This system is nonlinear with a single input and multiple outputs (SIMO) and is under-actuated. The paper addresses the challenges of applying optimal Linear Quadratic Regulator (LQR) control to Pendubot, requiring an accurate model without noise. The author proposes using a Kalman filter to estimate the system's state variables and mitigate the impact of noise. Subsequently, the LQR controller is applied based on the estimated state variables. Thus, the study suggests an integrated approach combining Kalman filtering and LQR control to enhance Pendubot's performance under real-world conditions. The combination of LQR and Kalman forms a new controller called LQG, which addresses issues encountered by standalone LQR and improves the system's optimal performance. The paper focuses on evaluating the performance of LQR and LQG controllers through system simulations with the input being the motor force applied to the first bar of the Pendubot system in MATLAB Simulink software.
A SURVEY OF LINEAR CONTROL FOR EXPERIMENTAL BALL AND BEAM WITH MIDDLE AXIS Huynh, Duy-Khoa; Nguyen, Duc-Anh-Quan; Tran, Duc-Hien; Nguyen, Xuan-Huy; Le, Tuan-Kiet; Pham, Gia-Long; Le, Chi-Danh; Bui, Nguyen-Duc-Huy; Dang, Gia-Huy; Nguyen, Minh-Tam
Indonesian Journal of Engineering and Science Vol. 6 No. 1 (2025): Table of Contents
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v6i1.149

Abstract

This paper presents an experimental study of linear control algorithms applied to a Ball and Beam system with a central axis. The focus is on evaluating the ball's ability to remain balanced around the central axis and assessing the stability of linear control strategies in real-world applications. The system is controlled using an STM32F4 microcontroller, which manages a DC motor to adjust the beam's angle in response to the ball's position. Through a series of experiments and data analysis, the study explores the effectiveness of linear control in addressing the system's nonlinear dynamics and discusses the practical challenges faced during implementation. The results contribute to a deeper understanding of advanced control techniques and their potential applications in engineering.
Co-Authors Bui, Nguyen-Duc-Huy Dang, Gia-Huy Huynh, Duy-Khoa Lam, Quang-Buu Le, Chi-Danh Le, Duc-Quy Le, Tuan-Kiet Lieu, Phu-Thuan-An Nguyen, Anh-Quoc Nguyen, Binh-Hau Nguyen, Hoang-Anh Nguyen, Luu-Quang-Thinh Nguyen, Minh-Tam Nguyen, Phong Luu Nguyen, Phong-Luu Nguyen, Phu-Hung Nguyen, Tran-Tien Nguyen, Xuan-Huy Pham, Cao-Sang Pham, Dinh-Luan Pham, Gia-Long Pham, Van-Huy Tran, Anh-Thu Tran, Duc-Hien Tran, Hoang-Bao Tran, Quoc-Thai