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Alfian Ma'arif
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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 16 Documents
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Search results for , issue "Vol 3, No 2 (2023)" : 16 Documents clear
Virtual Sensors Design for Nonlinear Dynamic Systems Alexey Zhirabok; Alexander Zuev; Kim Chung Il
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.915

Abstract

The objective of the paper is virtual sensors design, estimating prescribed components of the systems state vector to solve the tasks of fault diagnosis in nonlinear systems. To solve the problem, the method called logic-dynamic approach is used, which allows to solve the problem for systems with non-smooth nonlinearities subjected to external disturbance by methods of linear algebra. According to this method, the problem is solved in three steps: at the first step, the nonlinear term is removed from the system, and the linear model invariant with respect to the disturbance is designed; at the second step, a possibility to take into account the nonlinear term and to estimate the given variable is checked; finally, the transformed nonlinear term is added to the linear model. The relations allowing to design virtual sensor of minimal dimension estimating prescribed component of the state vector of the system are obtained. The main contribution of the present paper is that a procedure to design virtual sensors of minimal dimension for nonlinear systems estimating prescribed components of the state vector is developed. This allows to reduce complexity of the virtual sensors in comparison with known papers where such sensors of full dimension are constructed. Besides, the limitations imposed on the initial system are relaxed that allow to extend a class of systems for which the virtual sensors can be constructed.
Artificial Potential Field Path Planning Algorithm in Differential Drive Mobile Robot Platform for Dynamic Environment Maulana Muhammad Jogo Samodro; Riky Dwi Puriyanto; Wahyu Caesarendra
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.944

Abstract

Mobile robots need path-planning abilities to achieve a collision-free trajectory. Obstacles between the robot and the goal position must be passed without crashing into them. The Artificial Potential Field (APF) algorithm is a method for robot path planning that is usually used to control the robot for avoiding obstacles in front of the robot. The APF algorithm consists of an attractive potential field and a repulsive potential field. The attractive potential fields work based on the predetermined goals that are generated to attract the robot to achieve the goal position. Apart from it, the obstacle generates a repulsive potential field to push the robot away from the obstacle. The robot's localization in producing the robot's position is generated by the differential drive kinematic equations of the mobile robot based on encoder and gyroscope data. In addition, the mapping of the robot's work environment is embedded in the robot's memory. According to the experiment's results, the mobile robot's differential drive can pass through existing obstacles. In this research, four test environments represent different obstacles in each environment. The track length is 1.5 meters. The robot's tolerance to the goal is 0.1 m, so when the robot is in the 1.41 m position, the robot's speed is 0 rpm. The safe distance between the robot and the obstacle is 0.2 m, so the robot will find a route to get away from the obstacle when the robot reaches that safe distance. The speed of the resulting robot decreases as the distance between the robot and the destination gets closer according to the differential drive kinematics equation of the mobile robot.
Gaussian Processes-BayesFilters with Non-Parametric Data Optimization for Efficient 2D LiDAR Based People Tracking Zulkarnain Zainudin; Sarath Kodagoda
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.901

Abstract

A model for expressing and describing human motion patterns must be able to improve tracking accuracy. However, Conventional Bayesian Filters such as Kalman Filter (KF) and Particle Filter (PF) are vulnerable to failure when dealing with highly maneuverable targets and long-term occlusions. Gaussian Processes (GP) is then used to adapt human motion patterns and integrate the model with Bayesian Filters. In GP, all samples in training phase need to be included and periodically, new samples will be added into training samples whenever it is available. Larger amount of data will increase the computational time to produce the learned GP models due to data redundancies. As a result, Mutual Information (MI) based technique with Mahalanobis Distance (MD) is developed to keep only the informative data. This method is used to process data which is collected by a robot equipped with a LiDAR. Experiments have demonstrated that reducing data does not raise Average Root Mean Square Error (ARMSE) considerably. EKF, PF, GP-EKF and GP-PF are utilised as a tool for tracking people and all techniques have been analyzed in order to distinguish which method is more efficient. The performance of GP-EKF and GP-PF are then compared to EKF and PF where it proved that GP-BayesFilters performs better than Conventional Bayesian Filters. The proposed approach has reduced data points up to more than 90\% while keeping the ARMSE within acceptable limits. This data optimization technique will save computational time especially when deal with periodically accumulative data sets. Comparing on four tracking methods, both GP-PF and GP-EKF have achieved higher tracking performance when dealing with  highly maneuverable targets and occlusions.
Fuzzy Fault-Tolerant Control Applied on Two Inverted Pendulums with Nonaffine Nonlinear Actuator Failures Abdelhamid Bounemeur; Mohamed Chemachema; Salah Bouzina
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.917

Abstract

This paper deals with the problem of fault-tolerant control for a class of perturbed nonlinear systems with nonlinear non-affine actuator faults. Fuzzy systems are integrated into the design of the control law to get rid of the system nonlinearities and the considered actuator faults. Two adaptive controllers are proposed in order to reach the control objective and ensure stability. The first term is an adaptive controller involved to mollify the system uncertainties and the considered actuator faults. Therefore, the second term is known as a robust controller introduced for the purpose of dealing with approximation errors and exogenous disturbances. In general, the designed controller allows to deal automatically with the exogenous disturbances and actuator faults with the help of an online adaption protocol. A Butterworth low-pass filter is utilized to avoid the algebraic loop issue and allows a reliable approximation of the ideal control law. A stability study is performed based on Lyapunov's theory. Two inverted pendulum example is carried out to prove the accuracy of the controller.
Improving the Size of the Propellers of the Parrot Mini-Drone and an Impact Study on its Flight Controller System Esraa H. Kadhim; Ahmad T. Abdulsadda
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.933

Abstract

Unmanned Aerial Vehicles (UAVs) are widely used in transportation, delivery, surveillance and surveillance applications. The development of stable, resilient, and accurate flight based on turbulence and turbulence will likely become a key feature in the development of unique flight control systems. In this research, we studied the control system of a small Parrot mini drone, the Mambo drone, which was designed using the MATLAB program, while we added turbulence to the drone by changing the weight of the original plane in the design, where we increased the weight and calculated the vertical projection area of the propellers of the plane several times until we got the best space for the propellers able to carry more extra weight. We imposed an increase in the drone's weight due to bad conditions that the plane experienced during its flight, such as snow or dust falling on it. In order to make the aircraft bear these weather conditions without falling and colliding, we calculated an appropriate increase in the area of the aircraft wing, and we actually applied it in the MATLAB-R2021a Simulink program, and we got good results using simulation as well as in real-time inside the laboratory, turbulence was added in the simulation program. The new design of the propellers demonstrated the aircraft's ability to carry an additional payload of approximately one-third of the aircraft's weight, as shown in the roads chapter. In future work, we propose to use this design on larger aircraft with fixed propellers and to study the effects of other weather conditions on UAVs, such as the effect of temperature, humidity, and others.
Modified Fractional Order PID Controller for Load Frequency Control of Four Area Thermal Power System Ahmed Mohammed Saba; Tajudeen Humble Sikiru; Ibrahim Bello; Ahmed Tijani Salawudeen; Usman Alhaji Dodo
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.957

Abstract

This paper presents the development of a modified Fractional Order Proportional Integral Derivative (FOPID) controller to mitigate frequency deviation in a four-area thermal power system. Change in load demand and noisy power system environment can cause frequency deviation. Reducing high-frequency deviation is very paramount in load frequency control. This is because large frequency deviation can cause the transmission line to be overloaded, which may damage transformers at the transmission level, damage mechanical devices at the generating stations and also damage consumer devices at the distribution level. The conventional PID has been widely used for this problem. However, the parameter values of the various generating units of the power system like generators, turbines and governors keep changing due to numerous on/off witching in the load side. As such, it is essential that the control strategy applied should have a good capability of handling uncertainties in the system parameters and good disturbance rejection. Fractional order PID controller is known to give a higher phase margin resulting in very good disturbance rejection, robustness to high-frequency noise and elimination of steady-state error. A four-area power system was designed, and FOPID was used as the supplementary controller to mitigate frequency deviation. Ant Lion Optimizer (ALO) algorithm was used to optimize the gains of the FOPID controller by minimizing Integral Square Error (ISE) as the objective function. Results obtained outperformed other designed methods available in the literature in terms of reducing frequency deviation, tie-line power deviation and area control error.
Improving the Recognition Percentage of the Identity Check System by Applying the SVM Method on the Face Image Using Special Faces Azita Mousavi; Amir Hossein Sadeghi; Ali Mojarrad Ghahfarokhi; Fatemehalsadat Beheshtinejad; Mahsa Madadi Masouleh
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.939

Abstract

Face recognition has attracted tremendous attention during the last three decades because it is considered a simple pattern recognition and image analysis method. Also, many facial recognition patterns have been introduced and used over the years. The SVM algorithm has been one of the successful models in this field. In this article, we have introduced the special faces first. In the following, we have fully explained the SVM method and its subsets, including linear and non-linear support vector machines. Suggestions for improving the recognition percentage of a person's identity check system by applying the SVM method on the face image using special faces are presented. For this test, 10 face images of 40 people (400 face images in total) have been selected from the ORL database. In this way, by choosing the optimal parameter C, determining the most suitable training samples, comparing more accurately with training images and using the distance with the closest training sample instead of the average distance, the proposed method has been implemented and tested on the famous ORL database. The obtained results are FAR=0.23% and FRR=0.48%, which shows the very high accuracy of the operation following the application of the above suggestions.
Comparison of PCB Based Actuator Coils for Untethered Actuation Erdem Dogus Akkus; Levent Çetin
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.936

Abstract

Recently magnetic actuation has become a versatile tool for manipulation on both the micro and macro scale. Due to the problems arising from scale, conventional electromagnet production methods are insufficient to produce the desired electromagnets to be used for this purpose. To solve the problems arising from this situation, researchers have been forced to work in alternative electromagnet production and application areas and paved the way for PCB-based electromagnetic actuators. For this reason, this article will explain the design principles of PCB planar coils for electromagnetic actuator applications and will provide the basis for later studies to create a coil matrix using this coil design and an actuator that can move ferromagnetic particles or magnets in the plane with this 2D coil matrix. The presented project design steps can be listed as follows; First of all, to be able to design a coil that consists of copper paths on the PCB and can meet expectations (homogeneous magnetic field, high magnetic force/current ratio). PCB coils consisting of square, circular and hexagonal coils are manufactured and various measurements are made. The measured results are consistent with the simulated results proving the accuracy and applicability of PCB coil actuators, and they are highly suitable for a new actuator version. In the tests carried out, coils energized with 1A can provide a maximum field strength of 1400 (A/m) and an average of 900 (A/m) and due to the lack of magnetic core, the created magnetic field has the shape of a bell. In order to overcome this situation, it is foreseen that making studies to increase the working current and, as a more important development, switching from the planar single-layer structure to the structure of two or more layers can increase the magnetic field produced by this type of coils, but this layer increase should take into account the cost and PCB production and application capabilities. should be made available.
Bridge Crack Detection Based on Attention Mechanism Geng Chuang; Cao Li-jia
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.929

Abstract

With the strong support of the country for bridge construction and the increase in supervision of the safety of old bridges, the visual-based bridge crack target detection has a problem of incomplete target framing due to the characteristics of the bridge crack target, reflecting the current algorithm model's poor ability to accurately identify targets. In this paper, YOLO V5 algorithm was used to address the issue of poor accuracy in bridge crack target detection, and a relevant bridge crack detection dataset was created. Three attention mechanisms, SENet, ECALayer, and CBAM, were respectively fused to improve the model's feature fusion part, and comparative experiments were conducted. The experimental results show that the improved algorithm has increased from 80.5% to 87% in mAP50-95 indicators compared to the original algorithm.
Fault Tolerant Super Twisting Sliding Mode Control of a Quadrotor UAV Using Control Allocation Mehmet Karahan; Mertcan Inal; Cosku Kasnakoglu
International Journal of Robotics and Control Systems Vol 3, No 2 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i2.994

Abstract

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a relative degree equal to one. A super-twisting sliding mode controller is proposed because of its robustness to uncertainties and perturbations. It increases accuracy and reduces chattering. A control allocation algorithm is developed to cope with the actuator fault. Firstly, a nonlinear model of the quadrotor unmanned aerial vehicle (UAV) is presented. Then, the controller design and type of the actuator fault are explained. The control allocation algorithm is used to optimize the trajectory tracking performance of the quadrotor in the presence of an actuator fault. A control allocation algorithm is an effective approach to implementing fault-tolerant control. When actuator faults are identified, they can be modeled as changes in the B matrix of constraints. Various simulations have been made for situations with and without actuator failure. In normal conditions, the quadrotor can accurately track altitude, roll, pitch and yaw references. In faulty conditions, the quadrotor can follow the references with a small error. Simulations prove the effectiveness of the control allocation algorithm, which stabilizes the quadrotor in case of an actuator fault. Overall, this paper presents a novel fault-tolerant controller design for quadrotor aircraft that effectively addresses actuator faults using a super-twisting sliding mode controller and control allocation algorithm.

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