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Alfian Ma'arif
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alfian.maarif@te.uad.ac.id
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ijrcs@ascee.org
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Jalan Janti, Karangjambe 130B, Banguntapan, Bantul, Daerah Istimewa Yogyakarta, Indonesia
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International Journal of Robotics and Control Systems
Published by Association for Scientific Computing Electronics and Engineering
ISSN : -     EISSN : 27752658     DOI : https://doi.org/10.31763/ijrcs
Core Subject : Engineering,
Control & Systems Engineering Electrical & Electronics Engineering
International Journal of Robotics and Control Systems is open access and peer-reviewed international journal that invited academicians (students and lecturers), researchers, scientists, and engineers to exchange and disseminate their work, development, and contribution in the area of robotics and control technology systems experts. Its scope includes Industrial Robots, Humanoid Robot, Flying Robot, Mobile Robot, Proportional-Integral-Derivative (PID) Controller, Feedback Control, Linear Control (Compensator, State Feedback, Servo State Feedback, Observer, etc.), Nonlinear Control (Feedback Linearization, Sliding Mode Controller, Backstepping, etc.), Robust Control, Adaptive Control (Model Reference Adaptive Control, etc.), Geometry Control, Intelligent Control (Fuzzy Logic Controller (FLC), Neural Network Control), Power Electronic Control, Artificial Intelligence, Embedded Systems, Internet of Things (IoT) in Control and Robot, Network Control System, Controller Optimization (Linear Quadratic Regulator (LQR), Coefficient Diagram Method, Metaheuristic Algorithm, etc.), Modelling and Identification System.
Arjuna Subject : Teknik (semua kategori) - Teknik Kontrol dan Sistem
Articles 15 Documents
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Search results for , issue "Vol 2, No 2 (2022)" : 15 Documents clear
Stabilizing of Inverted Pendulum System Using Robust Sliding Mode Control Magdi S. Mahmoud; Radhwan A. A. Saleh; Alfian Ma’arif
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.594

Abstract

The Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic system. These characteristics make it a popular benchmark for building and testing novel controllers. Therefore, in this study, a sliding mode controller is proposed and tested on the inverted pendulum system. According to the results of the simulation experiments with a sine signal as a reference, the proposed controller can stabilize the system well and has so fast response. Moreover, we have tuned the parameters of the proposed sliding mode controller in order to eliminate the chattering effect, the overshoot, and the steadystate error.
MRAC Adaptive Control Design for an F15 Aircraft Pitch Angular Motion Using Dynamics Inversion and Fractional-Order Filtering Amani R. Ynineb; Samir Ladaci
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.574

Abstract

This study proposes a fractional adaptive control scheme design for a longitudinal pitch angular motion control of a military F15 aircraft. The aircraft behavior will be forced to follow a chosen model reference in an MRAC (Model Reference Adaptive Control) configuration combined with dynamics inversion technique such that the transient response becomes invariant even in the presence of uncertainties or variations for a reference input by introducing a fractional-order transfer function pre-filter. Based on Lyapunov theory, the updating control law minimizes the error between the plant output and the model reference one. This controller is set in a cascade with a linear dynamic compensator. Simulation results on a military aircraft model with comparison to preceding results illustrate the effectiveness and the superiority of the proposed control strategy.
Using PV Fuzzy Tracking Algorithm to Charge Electric Vehicles Yao Lung Chuang; Miguel Herrera; Afshin Balal
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.636

Abstract

Due to the possible shortage of oil and gas, increasing the number of cars, global warming, air pollution, and outages, there is a special need for renewable energy sources and electric vehicles (EVs). The new battery-electric vehicles BEVs can be charged by the power grid. However, the existing fossil fuel power plant cannot provide enough power for this purpose, and the only choice is renewable energy sources (RECs). Comparing RECs, solar energy is abundant and accessible in any part of the world. Needless to state that a maximum power point tracking (MPPT) system is required in order to extract maximum power from solar modules. In this paper, a charging strategy is proposed via using a solar system, a boost converter, and a fuzzy tracking algorithm. The main research contribution of the presented paper is to charge an EV without putting stress on the power grid. The effectiveness of this approach is demonstrated by the MATLAB Simulink and LTSPICE results.
Coordinated Distributed Voltage Control Methods for Standalone Microgrids Awatef K. Ali; MagdiSadek Mostafa Mahmoud
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.612

Abstract

A microgrid is a small-scale power grid comprising distributed generators (DGs), distributed storage systems, and loads. It will lose contribution from the main grid if it shifts to islanded mode due to pre-planned or unforeseen disturbances. To restore the terminal voltages of all the distributed generators to the reference value, this paper presents three coordinated secondary control strategies. First, motivated by the synchronization control theory of multiagent systems, a distributed control technique is developed where each of the DGs is considered an agent and they exchange information via a communication network. second, a two-level control technique is designed in which a global controller is employed to monitor the overall performance of the DGs by transmitting corrective signals to the local controllers of the agents. In this technique, all the communication is between the global controller and the local controllers without any direct communication between the agents. Third, decentralized control is provided in which each DG is separately controlled by its local controller that operates based on the local feedback measurements. Simulations are carried out on an islanded microgrid consisting of four DGs to illustrate our design approach.
Power Assist Rehabilitation Robot and Motion Intention Estimation Zulikha Ayomikun Adeola-Bello; Norsinnira Zainul Azlan
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.650

Abstract

This article attempts to review papers on power assist rehabilitation robots, human motion intention, control laws, and estimation of power assist rehabilitation robots based on human motion intention in recent years. This paper presents the various ways in which human motion intention in rehabilitation can be estimated. This paper also elaborates on the control laws for the estimation of motion intention of the power assist rehabilitation robot. From the review, it has been found that the motion intention estimation method includes: Artificial Intelligence-based motion intention and Model-based motion intention estimation. The controllers include hybrid force/position control, EMG control, and adaptive control. Furthermore, Artificial Intelligence based motion intention estimation can be subdivided into Electromyography (EMG), Surface Electromyography (SEMG), Extreme Learning Machine (ELM), and Electromyography-based Admittance Control (EAC). Also, Model-based motion intention estimation can be subdivided into Impedance and Admittance control interaction. Having reviewed several papers, EAC and ELM are proposed for efficient motion intention estimation under artificial-based motion intention. In future works, Impedance and Admittance control methods are suggested under model-based motion intention for efficient estimation of motion intention of power assist rehabilitation robot.  In addition, hybrid force/position control and adaptive control are suggested for the selection of control laws. The findings of this review paper can be used for developing an efficient power assist rehabilitation robot with motion intention to aid people with lower or upper limb impairment.
Improved Design of Nonlinear Control Systems with Time Delay Awatef K. Ali; MagdiSadek Mostafa Mahmoud
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.631

Abstract

It is well known that time delay in nonlinear control systems may lead to the deterioration or even destabilization of the closed-loop systems. Therefore, specific analysis techniques and design methods are needed to be developed for nonlinear control systems in the presence of time delay. This chapter aims to give a broad overview of the stability and control of nonlinear time-delay systems. Firstly, we present some motivations and a comprehensive survey for the study of time-delay systems. Then, a brief overview of some control approaches is provided, specifically, the Lyapunov-Krasoviskii functional method for high-order polynomial uncertainties nonlinear time-delay systems, and nonlinear time-delay systems with nonlinear input, the Lyapunov-Razumikhin method for triangular structure nonlinear time-delay systems, dynamic gain control for full state time-delay systems. Finally, an application in chemical reactor systems is provided and some related open problems are discussed.
Sliding Mode Controller Based on the Sliding Mode Observer for a QBall 2+ Quadcopter with Experimental Validation Ayoub Daadi; Houssam Boulebtinai; Saddam Hocine Derrouaoui; Fares Boudjema
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.693

Abstract

This paper studies a particular Unmanned Aerial Vehicle (UAV), called QBall 2+ quadcopter. This vehicle is a complex system, non-linear, strongly coupled, and under-actuated. First, a non-linear model was developed to represent the dynamics of the studied drone. Once the latter is established, the linear model was used to obtain the best gains of the Proportional Integral Derivative (PID) controller. This controller was applied after on the non-linear model of the UAV. Moreover, a Sliding Mode Controller (SMC) based on Sliding Mode Observer (SMO) was designed for retrieving the system unknown variables. Through these latter, the QBall 2+ was controlled, taking into account the observer errors. The first contribution in this work is to implement the PID regulator on the QBall 2+ flight controller to validate the results obtained by simulation. Secondly, due to the limitations of the Flex 3 cameras, especially when the drone is outside their working environment, the sliding mode observer was implemented to replace the cameras in order to measure the states of the system considered in this work. Simulation results of the different applied controllers were displayed to evaluate their effectiveness.
Longitudinal Modeling of a Road Vehicle: 4-Wheel Traction Calequela J. T. Manuel; Max M. D. Santos; Giane G. Lenzi; Angelo M. Tusset
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.698

Abstract

This paper presents the longitudinal modeling of a 4-wheel traction vehicle represented in a block diagram using Matlab®/Simulink® software. The proposed modeling is suitable to be implemented in automatic parallel, oblique, or perpendicular parking systems considering speed cases between 5 km/h and 30 km/h. For the computational simulations, it was considered that the vehicle starts at rest and goes up a referenced or determined slope in degrees (°), with a sufficient rear reaction force to allow the vehicle to move until the engine produces sufficient torque. For the model of the tire variant, the magic formula (characterized by the sum of five vectors about an axis) was used. Three input signals were considered, slope, wind, and accelerator variation were considered in numerical simulations. The output signals are rear and normal front forces, vehicle speed, angular velocity, and engine acceleration. The longitudinal modeling proposed allows for easily reproducing the results and assigning new parameters to validate a Project, contributing positively both to the automotive industries and in innovation-based scientific research.
Design and Analysis of Decentralized Dynamic Sliding Mode Controller for TITO Process Mukesh G. Ghogare; A. R. Laware; S. L. Patil; C. Y. Patil
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.648

Abstract

In this paper, a decentralized dynamic sliding mode control (DySMC) strategy is applied to a multivariable level control system. The time derivative of the control input of the DySMC is considered a new control variable for an augmented system which is composed of the original system and the integrator. This DySMC can transfer discontinuous terms to the first-order derivative of the control input and effectively reduce the chattering. The interactions between input/output variables are a common phenomenon and a challenging task in the design of multi-loop controllers for interacting multivariable processes. For reducing the interaction among variables, ideal decouplers are used. Independent diagonal controllers are designed for each decoupled subsystem, which is reduced to the first-order plus dead-time (FOPDT) model. A numerical simulation test has been carried out on a reactor system of the Industrial-Scale Polymerization (ISP). Experimental tests are performed to check the efficacy of the proposed controller using a laboratory-level coupled tank system.  A comparison of the proposed approach and sliding mode controller (SMC) is presented. Simulation and experiment results show that the DySMC approach reduces the chattering, and compensates for the effect of the external disturbances, and parametric uncertainties.
Techno-Economic Analysis of a 12-kW Photovoltaic System Using an Efficient Multiple Linear Regression Model Prediction Pouya Pourmaleki; Willis Agutu; Ali Rezaei; Nima Pourmaleki
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.702

Abstract

Renewable energy sources are expected to replace traditional energy sources such as oil and gas in the future. It goes without saying that solar energy has been demonstrated to be a key source of green energy. Solar energy is used because it is abundant, pollution-free, and easily available. However, the power utility market requires highly exact solar energy forecasts. These challenges need the creation of a device that can precisely predict solar energy output via processing the location's weather data, which is accomplished through the use of machine learning and multiple linear regression (MLR). Some elements, such as the number of cloudy days, humidity, temperature, wind condition, and precipitation, should be addressed while simulating solar power output. In this paper, a 12-kW photovoltaic (PV) system on the rooftop of a house in Isfahan was studied using the System Advisor Model (SAM). The most significant research contribution of the proposed paper is to predict the output power of a solar system with the lowest possible error. According to the simulation results, by using the MLR model, the predicted power has an error of 6 % with the actual power, which is a very good estimation. In addition, this system meets each household's energy needs plus an additional 8430 kWh per year, resulting in being paid by utility companies, a fewer number of outages, and lower air pollution levels.

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