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All Journal Journal of Fuzzy Systems and Control (JFSC) Scientific Journal of Engineering Research
Nguyen, Phong-Luu
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Control & Systems Engineering Electrical & Electronics Engineering Energy 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.
Integrated Vision-PLC Control Architecture for High-Performance Delta Robot Sorting in Industrial Automation Vo, Kim-Thanh; Nghia, Bui-Duc; Tran, Huy-Vu; Huynh, Thanh-Tuan; Nguyen, Huy-Bao; Nguyen, Phong-Luu; Nguyen, Van-Tuan; Phan, Anh-Quoc; Phung, Son-Thanh; Nguyen, Van-Dong-Hai; Nguyen, Binh-Hau; Nguyen, Van-Hiep; Nguyen, Thanh-Binh
Scientific Journal of Engineering Research Vol. 2 No. 1 (2026): March Article in Process
Publisher : PT. Teknologi Futuristik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.64539/sjer.v2i1.2026.337

Abstract

The rapid development of automation and robotics has increased the demand for high-performance industrial systems, in which Delta robots play a crucial role due to their lightweight structure, high speed, and precise positioning capability. This study aims to design, implement, and evaluate a Delta robot-based product classification system integrating PLC S7-1200 control and Machine vision. The proposed system employs a camera to detect object shape, color, and position on a conveyor, while a PC processes the image data and computes the robot’s inverse kinematics before transmitting control commands to the PLC. A hardware model of the Delta robot was designed and fabricated, and a dual-mode control application was developed to monitor and operate the robot in real time. Experimental results demonstrate that the system achieves stable operation, with a classification speed of up to 20 products per minute and an accuracy of approximately 95.7% for picking and placing tasks. The findings confirm the feasibility and effectiveness of integrating vision-based detection with high-speed parallel robot control for industrial sorting applications. The study also provides a foundation for further optimization in processing speed, mechanical design, and advanced image-processing techniques to enhance system performance in practical manufacturing environments.
Co-Authors Huynh, Thanh-Tuan Lam, Quang-Buu Le, Duc-Quy Lieu, Phu-Thuan-An Nghia, Bui-Duc Nguyen, Binh-Hau Nguyen, Duc-Anh-Quan Nguyen, Huy-Bao Nguyen, Luu-Quang-Thinh Nguyen, Thanh-Binh Nguyen, Tran-Tien Nguyen, Van-Dong-Hai Nguyen, Van-Hiep Nguyen, Van-Tuan Pham, Dinh-Luan Phan, Anh-Quoc Phung, Son-Thanh Tran, Anh-Thu Tran, Huy-Vu Vo, Kim-Thanh