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All Journal Asian Journal of Science, Technology, Engineering, and Art
Muoghalu, Chidiebere N.
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Arts Computer Science & IT Engineering Social Sciences

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Positioning and Trajectory Tracking with Deflection Suppression in Flexible Link Robotic Manipulator Using PID-LQR Controller Okafor, Samuel; Mbachu, Chimaihe B.; Muoghalu, Chidiebere N.; Ekengwu, Bonaventure O.
Asian Journal of Science, Technology, Engineering, and Art Vol 3 No 4 (2025): Asian Journal of Science, Technology, Engineering, and Art
Publisher : Darul Yasin Al Sys

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58578/ajstea.v3i4.6278

Abstract

This study aims to enhance the dynamic response of a flexible link robot manipulator (FLRM) to achieve faster positioning, improved trajectory tracking, and effective suppression of link deflection. A dynamic model of the FLRM was developed, and a hybrid control strategy integrating a proportional–integral–derivative (PID) controller with a linear quadratic regulator (LQR) was designed and implemented within the closed-loop system architecture. The complete system was modeled and simulated using MATLAB/Simulink. Initial simulations assessed the performance of the PID and LQR controllers independently. The PID controller yielded a rise time of 0.2617 s, peak time of 0.9434 s, settling time of 3.2394 s, and overshoot of 11.9676%. In contrast, the LQR controller demonstrated superior dynamic characteristics, with a rise time of 0.2505 s, peak time of 0.3489 s, settling time of 0.4769 s, and minimal overshoot of 0.0048%. To further enhance system performance and reduce trajectory tracking error, a hybrid PID–LQR controller was developed, incorporating refined PID parameters. Simulation results showed that the hybrid controller achieved a rise time of 0.1444 s, peak time of 0.2706 s, settling time of 0.2637 s, and overshoot of 0.5119%. These outcomes demonstrate that the PID–LQR hybrid controller significantly outperforms the individual PID and LQR approaches by achieving near-zero overshoot, faster response, and reduced stabilization time.
Improving the Spectral Efficiency of Multiuser Multiple Antenna Millimeter Wave System Using Enhanced Kalman-Based Hybrid Precoder Uneze, Chioma Odochi; Mbachu, C. B.; Muoghalu, Chidiebere N.
Asian Journal of Science, Technology, Engineering, and Art Vol 4 No 2 (2026): Asian Journal of Science, Technology, Engineering, and Art
Publisher : Darul Yasin Al Sys

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.58578/ajstea.v4i2.8765

Abstract

Multipath fading remains a critical challenge in wireless communication systems, necessitating precoding schemes that are both flexible and robust under realistic transmission conditions. This study evaluated the performance of an enhanced Kalman-based hybrid digital precoding algorithm in a multipath environment with 10 paths and compared it with zero forcing (ZF), minimum mean square error (MMSE), and conventional Kalman hybrid digital precoding schemes reported in the literature. Using simulation-based analysis under varying numbers of base station (BS) antennas, the study assessed spectral efficiency as the primary performance indicator. The results showed that, at 64 BS antennas, the enhanced Kalman scheme outperformed ZF, MMSE, and Kalman precoding by 1.9711 bps/Hz, 1.7155 bps/Hz, and 1.11 bps/Hz, respectively. At 81 BS antennas, the corresponding performance gains were 1.7453 bps/Hz over ZF, 1.5344 bps/Hz over MMSE, and 0.9385 bps/Hz over Kalman. Similarly, at 256 BS antennas, the enhanced scheme achieved superior spectral efficiency by 1.4116 bps/Hz over ZF, 1.3324 bps/Hz over MMSE, and 0.9301 bps/Hz over Kalman. Overall, the findings demonstrate that the enhanced Kalman-based hybrid digital precoding algorithm consistently provides the highest spectral efficiency under identical multipath conditions, indicating improved data transmission performance over multipath communication channels. This study therefore contributes practical evidence for the application of enhanced Kalman-based precoding in wireless digital communication systems, with implications for achieving faster and more adaptable data transfer in realistic multipath environments.
Co-Authors Ekengwu, Bonaventure O. Mbachu, C. B. Mbachu, Chimaihe B. Okafor, Samuel Uneze, Chioma Odochi