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All Journal Indonesian Journal of Engineering and Science (IJES) Journal of Fuzzy Systems and Control (JFSC)
Tran, Trong-Bang
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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Trajectory Tracking using LQR Control for Pendubot: Simulation and Experiment Tran, Trong-Bang; Nguyen, Hoang-Thien; Nguyen, Tay; Dang, Duc-Dat; Pham, Duong-Minh-Quang; Le, Nhat-Duy; Huynh, Hoang-Khuong; Phan, Thanh-Quoc-Du; Nguyen, Bao-Huy; Nguyen, Ngo-Huu-Tung; Pham, Le-Quoc-Toan; Nguyen, Trung-Hieu; Dang, Quang-Vinh
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.v2i1.163

Abstract

Pendubot, a unique single-input-multiple-output (SIMO) system, is commonly employed in laboratories to validate control algorithms. In this article, we develop an LQR controller to simulate and assess its effectiveness on this model. Specifically targeting the TOP position for control, we not only verify the controller's quality but also ensure the motion system accurately tracks a predefined trajectory, encompassing sine and square pulses. Control parameters are meticulously chosen through a genetic algorithm (GA). Although LQR is not highly rated for trajectory tracking due to its relatively small operational range, our successful simulations and control of this system are attributed to the assistance of GA
An LQR-Based ANFIS Control for Double-Linked Inverted Pendulum on Cart Pham, Truong-Phuong-Nam; Tran, Trong-Bang; Nguyen, Van-Dong-Hai; Nguyen, Tai-Tue; Nguyen, Gia-Thinh; Nguyen, Duy-Phat; Nguyen, Dong-Khang; Ha, Van-An; Trinh, The-Nam-Chau; Nguyen, Trung-Thang
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.v3i2.307

Abstract

This paper presents a double-linked inverted pendulum on a cart system, which is highly nonlinear and inherently unstable. In the simulation, the state variable outputs are processed through three ENCODER blocks with a resolution of 1000 pulses, as we aim to develop a mathematical model that closely approximates real-world experiments. The objective of this study is to use an ANFIS controller to learn from data that closely resembles the actual system behavior under an LQR controller and apply it in a simulation environment to evaluate the stability and response of the system under both ANFIS and LQR controllers. The results show that the ANFIS controller provides better responses than the LQR controller.
DESIGN OF AN INTELLIGENT LINE-FOLLOWING AND MAZE-SOLVING ROBOT BASED ON FUZZY LOGIC AND ARDUINO Pham, Truong-Phuong-Nam; Nguyen, Minh-Khoa; Lieu, Vinh-Hung; Nguyen, Thi-Ngoc-Thao; Nguyen, Thanh-Binh; Nguyen, Van-Hiep; Le, Thi-Hong-Lam; Tran, Trong-Bang; Do, Ngoc-Huy; Nguyen, Binh-Hau
Indonesian Journal of Engineering and Science Vol. 7 No. 1 (2026): Table of Contents
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v7i1.213

Abstract

This paper presents the design and implementation of an intelligent line-following and maze-solving robot based on fuzzy logic and an Arduino platform. The proposed system integrates infrared sensors for line detection, a fuzzy-PID control strategy for motion regulation, and a decision-making algorithm for maze navigation. The control approach was first validated through MATLAB/Simulink simulation and subsequently implemented on a physical robotic prototype. Experimental results conducted on a maze-structured track demonstrate stable line-tracking performance, smooth curve negotiation, accurate intersection handling, and precise stopping at the finish point. The results confirm that the proposed fuzzy-based control strategy enhances tracking accuracy, reduces oscillations, and improves overall robustness, proving its effectiveness and practicality for intelligent mobile robotic applications.
Co-Authors Dang, Duc-Dat Dang, Quang-Vinh Do, Ngoc-Huy Ha, Van-An Huynh, Hoang-Khuong Le, Nhat-Duy Le, Thi-Hong-Lam Lieu, Vinh-Hung Nguyen, Bao-Huy Nguyen, Binh-Hau Nguyen, Dong-Khang Nguyen, Duy-Phat Nguyen, Gia-Thinh Nguyen, Hoang-Thien Nguyen, Minh-Khoa Nguyen, Ngo-Huu-Tung Nguyen, Tai-Tue Nguyen, Tay Nguyen, Thanh-Binh Nguyen, Thi-Ngoc-Thao Nguyen, Trung-Hieu Nguyen, Trung-Thang Nguyen, Van-Dong-Hai Nguyen, Van-Hiep Pham, Duong-Minh-Quang Pham, Le-Quoc-Toan Pham, Truong-Phuong-Nam Phan, Thanh-Quoc-Du Trinh, The-Nam-Chau