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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 10 Documents
 1 
Search results for , issue "Vol 2, No 3 (2022)" : 10 Documents clear
Reduced Order and Observer-Based Reset Control Systems with Time Delays Awatef K. Ali; MagdiSadek Mostafa Mahmoud
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.709

Abstract

This paper establishes a new mechanism to stabilize plants using reduced order reset controllers. The proposed method uses state feedback to change the dynamics of plants to guarantee oscillation behavior instead of stability, then the reset mechanism will lead to stability. We show that the base system could be unstable while the reset mechanism drives the states to the equilibrium point. The order of the reset controller equals the rank of the plant’s input matrix. We show that the controller dynamics force some states to converge to the equilibrium point within a finite time. The behavior of the rest of the plant’s states depends greatly on the selection of the state feedback gain which can be selected by any appropriate conventional method. Moreover, the stability of reset time-delay systems is addressed based on a similar theorem of the Lyapunov-Krasovskii theory. Sufficient conditions are given in terms of linear matrix inequalities to guarantee asymptotic stability of the overall dynamics. Simulation results are presented to demonstrate the effectiveness of the proposed reset approaches.
Development of a Nonlinear Harvesting Mechanism from Wide Band Vibrations Md Abdul Halim; Md Momin Hossain; Mst Jesmin Nahar
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.524

Abstract

The main objective of this study is to present an energy harvesting approach to scavenge electrical energy from mechanically vibrated piezoelectric materials.A mechanical energy harvester device has been developed and tested. The fundamental benefit of this mechanical device is that it can function effectively in a wide range of ambient vibration frequencies, whereas traditional harvesters are limited. A suitable conditioning circuit for energy scavenging has been proposed which can achieve optimal power stream. For controlling the power flow into the battery a circuit has been designed consisting of an AC to DC rectifier, an output capacitor, a switch mode DC to DC converter, and an electromechanical battery. An adaptive control system has been described for switching any electronics devices and maximizing battery storage capacity. Experimental results reveal that the power transfer rate can be enhanced by approximately 400% by utilizing the adaptive DC to DC converter. Various investigations on the piezoelectric harvester have revealed that the energy generated by the mechanical device can exceed the 1.4-volt barrier, which is suitable for charging capacitors in electronics devices. The findings of this study will be crucial in mitigating society's energy crisis.
A Simple Method for Stator Inductance and Resistance Estimation for PMSM at Standstill Justas Dilys; Voitech Stankevic
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.741

Abstract

An accurate stator resistance and inductance are necessary for high-performance permanent magnet synchronous motor (PMSM) control. The stator resistance and inductance can be estimated during motor standstill operation. This study proposes a standstill estimation method for the determination of dq-axis inductances and resistance of a PMSM drive system fed by a conventional voltage source inverter (VSI). The proposed method estimates both inductance and the rotor's position using the same algorithm, and knowledge of its initial position is not required. The d- and q-axis inductances were estimated by applying three short-time voltage pulses and measuring phase current peak values. The stator's resistance is estimated by monitoring the exponential decay process of the direct axis current. The method was verified by simulation and experiments conducted on two different PM synchronous motors. A good agreement of simulation and experimental results was obtained. Moreover, the proposed method is relatively simple and can identify stator resistance and inductance at any motor load condition. Compared to the existing parameter estimation strategies, the proposed estimation scheme has a relatively faster estimation time. Additionally, it is shown that the method accounts for the dead-time effect as well.
Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road Norsharimie Mat Adam; Addie Irawan
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.774

Abstract

The paper presents a dynamic control approach using impedance control to reduce inertia factors acting on a Mecanum Wheeled Vehicle (MWV) on cornering roads. Inertia in a mobile vehicle is one of the issues that affect the safety and energy efficiencies of the vehicle, especially when maneuvering on cornering and confined paths. With reference to the problem statements in the dynamics analyses, velocity-based impedance control was proposed where the derived interaction translational forces on the vehicle that consider friction and touching forces on vehicle-terrain are controlled through the velocities of the vehicle. This study emphasized shaping the axial velocities input of the MWV for both longitudinal and latitude motions to control the sensitivity of the vehicle during cornering periods. The verification was done through several simulations on the proposed velocity-based impedance control on the MWV plant. The results show that the different forces on MWV axial motion were capable of reducing inertia via velocity input during the cornering period of maneuvering by increasing the stiffness and damping ratio of the controller at about 2 and 9 for stiffness x-axis and y-axis, respectively, and 15 and 10 for damping ration of the x-axis and y-axis respectively. Moreover, with the proposed controller, inertia on MWV can be controlled on the slippery road such as asphalt roads. This scenario has influenced the overall kinetic energy of the vehicle down to about 26%, thus, able to control the overdriven occurred on cornering road.
NB Theory with Bargaining Problem: A New Theory Noorulden Basil Mohamadwasel; Alfian Ma'arif
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.798

Abstract

A new theory is proposed to achieve desired set of values for an engineering system based on a single algorithm that consists of all optimization algorithms. This algorithm considers an engineering system's main variables, dimensions, and functions; all these parameters will be set and tuned by a systematic search in the main library. This single algorithm automatically selects an optimization algorithm suitable for a particular optimization problem. Additionally, this theory, which was inspired by the idea of bargaining theory and Noorulden Basil theory, referred to as NB Theory, can be done using MATLAB Software.
Short-Term Solar PV Power Generation Day-Ahead Forecasting Using Artificial Neural Network: Assessment and Validation Abdel-Nasser Sharkawy; Mustafa M. Ali; Hossam H. H. Mousa; Ahmed S. Ali; G. T. Abdel-Jaber
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.780

Abstract

Solar photovoltaics (PV) is considered an auspicious key to dealing with energy catastrophes and ecological contamination. This type of renewable energy is based on climatic conditions to produce electrical power. In this article, a multilayer feedforward neural network (MLFFNN) is implemented to predict and forecast the output power for a solar PV power station. The MLFFNN is designed using the module temperature and the solar radiation as the two main only inputs, whereas the expected power is its output. Data of approximately one week (6-days) are obtained from a real PV power station in Egypt. The data of the first five days are used to train the MLFFNN. The training of the designed MLFFNN is executed using two types of learning algorithms: Levenberg-Marquardt (LM) and error backpropagation (EBP). The data of the sixth day, which are not used for the training, are used to check the efficiency and the generalization capability of the trained MLFFNN by both algorithms. The results provide evidence that the trained MLFFNN is running very well and efficiently to predict the power correctly. The results obtained from the trained MLFFNN by LM (MLFFNN-LM) are compared with the corresponding ones obtained by the MLFFNN trained by EBP (MLFFNN-EBP). From this comparison, the MLFFNN-LM has slightly lower performance in the training stage and slightly better performance in the stage of effectiveness investigation compared with the MLFFNN-EBP. Finally, a comparison with other previously published approaches is presented. Indeed, predicting the power correctly using the artificial NN is useful to avoid the fall of the power that maybe happen at any time.
Active Control System Applied to Vibration Level Control in High-Speed Elevators Marcos Gonçalves; Jose M. Balthazar; Clivaldo Oliveira; Maria E. K. Fuziki; Giane G. Lenzi; Angelo Marcelo Tusset
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.768

Abstract

This work presents an active control system applied to vibration level reduction in high-performance vertical transport, aiming at improving the passengers’ comfort in high-speed elevators. The control system design includes the use of a Proportional Integral Derivative (PID) control. Three strategies were proposed in order to achieve a 90% reduction in the vibration amplitudes: (I) the consecutive reduction of 90% of the displacements, (II) the consecutive reduction of 90% of the velocity, and (III) the consecutive reduction of 90% of the acceleration. The presentation of these three proposals allows their application for the use of different sensors. The performance of each strategy was evaluated through mathematical modeling and numerical simulations of a vertical transport with 4 degrees of freedom, submitted to excitations arising from rail deformations. Vibration and comfort levels in the cabin were numerically analyzed, taking into account ISO 2631 and BS 6841 standards for elevator lateral acceleration level and comfort level felt by passengers. Numerical simulations showed that the force required to reduce the vibration levels is practically the same for the three proposed strategies. However, strategy (III) – the successive reduction of 90% of acceleration – proved to be more efficient at improving passengers’ comfort level when compared to the other two strategies.
Analysis and Challenges in Wireless Networked Control System: A Survey Mutaz M. Hamdan; MagdiSadek Mostafa Mahmoud
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.731

Abstract

A wireless networked control system (WNCS) consists of a dynamic system to be controlled, sensors, actuators, and a remote controller. A WNCS has two types of wireless transmissions, i.e., the sensor's measurement transmission to the controller and the controller's command transmission to the actuator. In this paper, we are surveying the literature on the communication networks in WNCSs and the challenges related to them, such as the communication standards, delay, Packet dropout, and delay jitter. Then, the control approaches in the design of a WNCS are presented, including the interactive design approaches and the joint design approaches. Also, several applications of WNCSs have been discussed in terms of their structure, functionality, and control design. These applications include Intra-Vehicle Wireless networks, Wireless Avionics Intra-Communication, Building Automation, and Water pumping. After that, security issues in WNCSs from a control engineering point of view are detailed while focusing on the major kinds of cyber attacks affecting WNCSs. Finally, future directions and conclusions are summarized at the end of the paper.
Induction Motor Torque Measurement using Prony Brake System and Close-loop Speed Control Hari Maghfiroh; Arthur Joshua Titus; Augustinus Sujono; Feri Adriyanto; Joko Slamet Saputro
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.782

Abstract

Three-phase induction motors are the main drivers of the industrial world because of their low price and good reliability. However, this type of motor does not have built-in speed control. These problems can be overcome by utilizing the Variable Frequency Drive (VFD) inverter. This research investigates the induction motor's characteristics in every load condition and combines a VFD inverter with an external speed controller based on Arduino. The motor is mounted on a Prony brake testbed frame to measure the motor's torque and mechanical power. The test results show the highest torque value obtained is 0.57 Nm, and the highest output power value is 0.042 kW. The motor cannot maintain the setpoint speed after loading in the open-loop control system. Meanwhile, the closed-loop control system has been successfully implemented, and the motor can return the speed to the setpoint value after loading, with an average settling time of 14.67 seconds.
Adaptive PID Fault-Tolerant Tracking Controller for Takagi-Sugeno Fuzzy Systems with Actuator Faults: Application to Single-Link Flexible Joint Robot Mohamed Elouni; Habib Hamdi; Bouali Rabaoui; Naceur BenHadj Braiek
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.762

Abstract

This paper considers the problem of Fault Tolerant Tracking Control (FTTC) strategy design for nonlinear systems using Takagi-Sugeno (T-S) fuzzy models with measurable premise variables affected by actuator faults subject to unknown bounded disturbances (UBD). Firstly, the Adaptive Fuzzy Observer (AFO) is proposed to estimate the faults. Based on the information provided by this observer, an active fault tolerant tracking controller described by an adaptive Proportional-Integral-Derivative (PID) structure has been developed to compensate for the actuator fault effects and to guarantee the trajectory tracking of desired outputs to the reference model despite the presence of actuator faults. The stability and the trajectory tracking performances of the proposed approach are analyzed based on the Lyapunov theory. Sufficient conditions can be obtained and solved for the design of the controller, and the observer gains using Linear Matrix Inequalities (LMIs). Finally, the effectiveness of the proposed technique is illustrated by using a single-link flexible joint robot.

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