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All Journal International Journal of Advances in Applied Sciences TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics International Journal of Computing Science and Applied Mathematics-IJCSAM
Tua Agustinus Tamba
Parahyangan Catholic University
Computer Science & IT Earth & Planetary Sciences Electrical & Electronics Engineering Environmental Science Materials Science & Nanotechnology Mathematics Physics

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Optimal Control of an Uncertain Linear Networked Control Systems Under Denial of Service Attacks Tua Agustinus Tamba
(IJCSAM) International Journal of Computing Science and Applied Mathematics Vol. 9 No. 2 (2023)
Publisher : LPPM Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Controller design based on networked control system (NCS) framework typically relies on the use of computers and communication network systems to automatically monitor and manage the interactions and data exchanges between plant, sensor, controller and actuator elements of the considered closed loop NCS. Such design and implementation scheme are often challenging, particularly due to the requirement of guaranteed reliability and resiliency to possible failure of or malicious cyber attacks on the communication system part. This paper examines the stability of a class of uncertain linear NCS that is subjected to Denial-of-Service (DoS) attacks. In essence, a DoS is a failure phenomenon on the communication links which in NCS framework can prevents the execution of ideal control inputs to take place. Specifically, this paper examines the design of an event-triggered resilient controller for an uncertain linear NCS in the face of such a DoS phenomenon and characterizes sufficient conditions under which the closed loop NCS is guaranteed to remain globally asymptotically stable.
Modeling and bifurcation analysis of an intraguild predation system Tua Agustinus Tamba
International Journal of Advances in Applied Sciences Vol 12, No 2: June 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijaas.v12.i2.pp103-110

Abstract

This paper proposes a mathematical model of an asymmetric intraguild (IG) predation system with an exclusive alternative resource. In particular, this paper analyzes the effects that the exclusive alternative resource has on the consumption/predation behaviors of both the IG predator and IG prey species in the system. The results presented on this paper show that, if the IG predator is less competitive in consumption and less efficient in conversion of the shared resource than that of the IG prey, then there exists a lower bound on the value of the predation rate parameter that should be maintained by IG predator species to ensure its survival and co-existence in the system.
Switching stabilizing controller design for an inverted pendulum system platform Jonathan Chandra; Tua Agustinus Tamba; Ali Sadiyoko
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 22, No 4: August 2024
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v22i4.25732

Abstract

This paper reports the development and switching controller design of an in- verted pendulum system (IPS) platform. The euler-lagrange approach is first used to model the dynamics of the IPS which takes into account the impact of friction forces during its movements. The paper then derives a switching control method to swing the pendulum rod into the neighborhood of and stabilizing it at the equilibrium point. The implemented switching controller consists of: i) a nonlinear swing up control which brings the pendulum to the vertical position and ii) a linear stabilizing control which maintains the pendulum rod to remain in a vertical position around the neighborhood of the vertical axis. The nonlinear controller is constructed using lyapunov’s method while the linear controller is designed using linear quadratic regulator (LQR) method framework. Simulation and experimental results are presented to show the effectiveness of the proposed switching controller.
Model predictive control with safety barrier enforcement for dynamic obstacle avoidance of mobile robots Michel Andrianto Gunarso; Tua Agustinus Tamba; Jonathan Chandra
Bulletin of Electrical Engineering and Informatics Vol 15, No 2: April 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v15i2.11309

Abstract

This research proposes a model predictive control (MPC) approach with additional barrier function constraint for safe navigation of a differential drive wheeled mobile robot (DDWMR) in the presence of static and dynamic obstacles. The proposed approach uses the kinematic model of DDWMR to initially constructs a stabilizing MPC on the basis of Lyapunov’s stability theory. To ensure safe navigation of the DDWMR when obstacles are present, the control barrier function (CBF) concept is subsequently constructed and integrated into the developed MPC framework. The integrated MPC-CBF approach is shown to guarantee both the stability and safety properties of the DDWMR while navigating towards a desired goal position through a workspace filled with obstacles. The good performance of the proposed framework is demonstrated through computer simulations and experimental validation on a Turtlebot3 DDWMR plat form. In the real robot experiments, the controller achieved final tracking errors of [ex ey] = [0.1286 0.0626] m and e0 = 0.021 rad, while the corresponding simulation errors were [ex ey] = [0.0824 0.0698] m and e0 = 0.0883 rad, respectively. These results demonstrate that the developed feedback control method ensures safe, stable, and collision-free motions of the DDWMR.
Co-Authors Ali Sadiyoko Jonathan Chandra Jonathan Chandra Michel Andrianto Gunarso