Journal of Robotics and Control (JRC)
Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope includes (but not limited) to the following: Manipulator Robot, Mobile Robot, Flying Robot, Autonomous Robot, Automation Control, Programmable Logic Controller (PLC), SCADA, DCS, Wonderware, Industrial Robot, Robot Controller, Classical Control, Modern Control, Feedback Control, PID Controller, Fuzzy Logic Controller, State Feedback Controller, Neural Network Control, Linear Control, Optimal Control, Nonlinear Control, Robust Control, Adaptive Control, Geometry Control, Visual Control, Tracking Control, Artificial Intelligence, Power Electronic Control System, Grid Control, DC-DC Converter Control, Embedded Intelligence, Network Control System, Automatic Control and etc.
Articles
708 Documents
<![CDATA[A Simple Strategy of Control DC-DC Converter as Power Supply on Household Lights ]]>
<![CDATA[Turahyo, Turahyo]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.26126
<![CDATA[Light emitting diode (LED) lamps are lighting lamps that have high efficiency with very low power absorption. This lighting lamp is widely used in households, the working voltage is 110-230 volts AC. Under certain conditions, LED light with the driver can also be turned on using a DC voltage at a voltage of 120-125 volts DC. Storage of electrical energy from solar cells generally uses a 12 volt batteries with a large enough current capacity from 5Ah to 400Ah. If the driver LED light is turned on by a battery or battery with a voltage of 12 volts DC from the solar cell, the driver LED light will not light up. This is because the battery / battery voltage level is not high enough to turn on the drive LED light. An electronic device in the form of a DC-DC converter can be utilized to increase the voltage from 12 volts to a higher voltage. In this paper, a DC to DC converter with a voltage multiplier using the Cockcroft-Walton method is designed to be used to turn on LED light for household lighting. After testing, the output voltage from DC to DC is 125.2 volts and the output current is 0.0465 A with a lamp load of 5 watts, while the input voltage is 3.7 volts and the current is 1.49 A.]]>
<![CDATA[Fuzzy-PID in BLDC Motor Speed Control Using MATLAB/Simulink ]]>
<![CDATA[Hari Maghfiroh]]>;
<![CDATA[Musyaffa’ Ahmad]]>;
<![CDATA[Agus Ramelan]]>;
<![CDATA[Feri Adriyanto]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.10964
<![CDATA[Brushless DC motors (BLDC) are one of the most widely used types of DC motors, both in the industrial and automotive fields. BLDC motor was chosen because it has many advantages over other types of electric motors. However, in its application in the market, most of the control systems used in BLDC motors still use conventional controls. This conventional method is easy and simple to apply but has many weaknesses, one example is that if the system state changes, then the parameters of the PID must also be changed so that static and dynamic performance will decrease, causing slow response and frequent oscillations. In this study, the design and simulation of a speed control system for BLDC motors using the Fuzzy-PID method were carried out. The research method is performed through simulation with Matlab / Simulink. The simulation is carried out by providing a speed setpoint input of 650 rpm and used 2 methods, namely Fuzzy-PID Logic and Pi conventional method which was carried out for 1 second. The test results show that the Fuzzy-PID control can provide better and more stable performance than the conventional PI control. The use of Fuzzy-PID control can reduce speed fluctuation and torque stability so that the BLDC motor can operate more efficiently and reliably.]]>
<![CDATA[Global Saturated Regulator with Variable Gains for Robot Manipulators ]]>
<![CDATA[Brandon Sánchez-García]]>;
<![CDATA[Fernando Reyes-Cortés]]>;
<![CDATA[Basil Al-Hadithi]]>;
<![CDATA[Olga Félix-Beltrán]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.26139
<![CDATA[In this paper, we propose a set of saturated controllers with variable gains to solve the regulation problem for robot manipulators in joint space. These control schemes deliver torques inside the prescribed limits of servomotors. The gamma of variable gains is formed by continuous, smooth, and differentiable functions of the joint position error and velocity of the manipulator. A strict Lyapunov function is proposed to demonstrate globally asymptotic stability of the closed-loop equilibrium point. Finally, the functionality and performance of the proposal are illustrated via simulation results and comparative analysis against Proportional-Derivative (PD) control scheme on a two-degrees-freedom direct-drive robot manipulator.]]>
<![CDATA[Dynamic Modeling and Torque Feedforward based Optimal Fuzzy PD control of a High-Speed Parallel Manipulator ]]>
<![CDATA[Zirong Lin]]>;
<![CDATA[Chuangchuang Cui]]>;
<![CDATA[Guanglei Wu]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.26133
<![CDATA[Dynamic modeling and control of high-speed parallel manipulators are of importance due to their industrial applications deployed in production lines. However, there are still a number of open problems, such as the development of a precise dynamic model to be used in the model-based control design. This paper presents a four-limb parallel manipulator with Schönflies motion and its simplified dynamic modeling process. Then, in order to fix the issue that computed torque method control (CTC) will spend a lot of time to calculate dynamic parameters in real-time, offline torque feedforward-based PD (TFPD) control law is adopted in the control system. At the same time, fuzzy logic is also used to tune the gains of PD controller to adapt to the variation of external disturbance and compensate the un-modeled uncertainty. Additionally, bottom widths of membership functions of fuzzy controller are optimized by bat algorithm. Finally, three controllers of CTC, TFPD and bat algorithm-based torque feedforwad fuzzy PD controller (BA-TFFPD) are compared in trajectory tracking simulation. Fro the result, compared with TFPD and CTC, BA-TFFPD can lead faster transient response and lower tracking error, which prove the validity of BA-TFFPD.]]>
<![CDATA[Design and Build of 1000 V Joule Thief Inverter by Utilizing Pineapple as an Energy Source ]]>
<![CDATA[Wiwin A Oktaviani]]>;
<![CDATA[Arrofi Maulana]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.10198
<![CDATA[The availability of fossil energy-based energy sources is currently depleting and cannot meet the increasing consumption. Therefore, the development of environmentally friendly alternative energy or known as green energy is increasingly being encouraged. One form of green energy that can be utilized, especially in the South Sumatra region, is pineapple. In this paper, the use of pineapple as a raw material for batteries is introduced. The material for making pineapple batteries will affect the amount of battery capacity produced. The pineapple battery capacity will then determine the amount of output voltage generated by the joule thief converter. Apart from the material, the voltage increase in the joule thief converter circuit is also influenced by the source voltage of the pineapple battery, the ferrite core step-up transformer, and the arrangement of the diodes and capacitors in the circuit. The pineapple battery capacity produced in this study is 1209 mAh, the maximum voltage is 4.63 V, the pineapple battery life is 1.0334 hours, and the charging process is 34 minutes. The resulting circuit in this study shows that the maximum output voltage of the joule thief converter is 1531 V, a current of 4.19 mA and the ability to increase the voltage to the source is 300 times.]]>
<![CDATA[Implementation of a Camera Sensor Pixy 2 CMUcam5 to A Two Wheeled Robot to Follow Colored Object ]]>
<![CDATA[Sigit Dani Perkasa]]>;
<![CDATA[Prisma Megantoro]]>;
<![CDATA[Hendra Ari Winarno]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.26128
<![CDATA[This article discusses the design of a colored object follower robot. The colored object used has a simple shape. For the detection process, a wheeled robot that uses sensors based on digital images of Pixy 2. Pixy2 can learn to detect objects that you teach it, just by pressing a button. Additionally, Pixy2 has new algorithms that detect and track lines for use with line-following robots. Pixy2 camera is able to recognize and track all objects whose color has been memorized. In maneuvering, this robot has 2 wheels on the right and left. Movement control is carried out by the Arduino Uno microcontroller board. This robot moves according to the direction of movement of the object. The conclusion obtained in this research is that this wheeled robot can be examined from the left, front and right side objects properly, then it follows the direction of the detected object.]]>
<![CDATA[Fractional Order PID Controller for Minimizing Frequency Deviation in a Single and Multi-area Power System with GRC, GDB and Time Delay ]]>
<![CDATA[Ahmed Mohammed Saba]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.11356
<![CDATA[In this paper, a Fractional Order PID (FOPID) controller to minimize frequency deviation in a single and two area power system is presented. Minimizing high frequency deviation in the presence of physical constraints is very paramount in load frequency control. This is because large frequency deviation can cause the transmission line to be overloaded which may damage equipment’s at the distribution level and the mechanical devices at the generating stations. In this paper, power system with physical constraints such as Communication Delay, Governor Dead Band (GDB) and Generation Rate Constraint (GRC) were considered and modeled appropriately. An anti-windup scheme was employed to limit the effects of these physical constraints on the power system. The proposed Fractional Order PID controller was designed using the Fractional Order Modeling and Control (FOMCON) toolbox available in MATLAB/Simulink. Antlion Optimization algorithm was used to optimize the gains of the FOPID controller by minimizing Integral Square Error (ISE) as the objective function. The Integral Square Error to be minimized is the summation of the errors in frequency deviation, tie-line power deviation and the area control error. Simulation results using the proposed approach were compared with other designed methods available in literatures. Simulations were first conducted on power system designed without physical constraints, and results obtained outperformed other designed methods available in literatures for one and two area power system. Three physical constraints were then added to the proposed method, and results obtained were compared with other designed method available in literatures for power system without physical constraints. The proposed method outperformed other designed method in minimizing frequency deviation, tie-line power deviation and area control errors. However, the proposed FOPID controller took a longer time to balance the generated power and load demand when compared to other designed method for power system without physical constraints]]>
<![CDATA[Small-scale Robot Arm Design with Pick and Place Mission Based on Inverse Kinematics ]]>
<![CDATA[Adnan Rafi Al Tahtawi]]>;
<![CDATA[Muhammad Agni]]>;
<![CDATA[Trisiani Dewi Hendrawati]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.26124
<![CDATA[Robot arm is often used in industry with various tasks, one of which is a pick and place. Rapid prototyping of robot arms is needed to facilitate the development of many industrial tasks, especially on a laboratory scale. This study aims to design a small-scale three degree of freedom (3-DoF) robot arm for pick and place mission using the inverse kinematics method. The mechanical robotic arm system is designed using Solidworks with four servo motors as the actuator. Arduino Mega 2560 is used as a microcontroller in which the inverse kinematic method is embedded. This method is used to move the robot based on the coordinates of the destination pick and place. The test results show that the robot arm can carry out the pick and place mission according to the target coordinates given with the largest average error of about 5 cm. While the error generated between the calculation and computation results is around 3%.]]>
<![CDATA[Simulation and Arduino Hardware Implementation of DC Motor Control Using Sliding Mode Controller ]]>
<![CDATA[Alfian Ma'arif]]>;
<![CDATA[Abdullah Çakan]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.26140
<![CDATA[The research proposed an alternative controller to control the Direct Current (DC) Motor using a sliding mode controller (SMC) in Matlab Simulink simulation and Arduino hardware implementation. The proposed controller, SMC, was designed using the system model (equivalent control) and Lyapunov control design (also to prove the stability). The sliding mode controller had a better response than PID Controller, with no overshoot response in the simulation result. In the Arduino hardware implementation result, the augmented system could reach the reference but has an oscillation and chattering effect in the control signal. The chattering could be reduced by modifying the switching control. Comparing with PID, SMC had a better response with no overshoot. Thus, the SMC could be used as an alternative controller for the DC Motor.]]>
<![CDATA[Mobile Security Vehicle’s based on Internet of Things ]]>
<![CDATA[Muchammad Husni]]>;
<![CDATA[R. V. H. Ginardi]]>;
<![CDATA[K. Gozali]]>;
<![CDATA[R. Rahman]]>;
<![CDATA[A. S. Indrawanti]]>;
<![CDATA[M. I. Senoaji]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.26135
<![CDATA[The purpose of this research is to design and build a mobile security vehicle based on the Internet of Things (IoT) that combines to Arduino-based microcontroller, internet networks, and the needed hardware. The design is intended to monitor and control the vehicle condition and monitor the vehicle location based on IoT. This research uses hardware and software components. The hardware uses the Arduino-based microcontroller that connects to some modules. This research uses Relay Module 2 Channel HL-525 to control the vehicle machine, GPS Module Neo-7M to get the vehicle location, SIM800L Module to connect to the internet network, and ACS-712 Voltage sensor to detect the voltage in the vehicle electricity. This research uses multi-platform (web application) as the component software to monitor and control the vehicle condition and its location. The result of this research is Mobile Security Vehicle’s System Based on Arduino where the system can satisfy some functional needs such as can monitoring motorcycle location, controlling alarm, and motorcycle electricity to avoid theft through a web application that can be used in multi-platform.]]>
