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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 26 Documents
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Search results for , issue "Vol 4, No 2 (2024)" : 26 Documents clear
Implementing PID-Kalman Algorithm to Reduce Noise in DC Motor Rotational Speed Control Kurniasari, Indah Dwi; Ma'arif, Alfian
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1309

Abstract

This research attempts to combine Proportional Integral Derivative (PID) control and Kalman filter as a noise filter for encoder sensor readings and reference tracking accelerator of JGA25-370 DC motor. Through experiments, the applied PID controller demonstrated its ability to maintain the stability of DC motor rotation under different load conditions. The control signal generated by the motor driver had different voltage outputs: 7.8V for PWM 125, 8.4V for PWM 150, 8.8V for PWM 175, 9.1V for PWM 200, 9.4V for PWM 225, and 9.6V for PWM 250, with an encoder constant multiplier of 1.71. In particular, the Kalman filter, whose parameter values of R = 0.1 and Q = 0.01, effectively reduced the noise of the JGA25-370 DC motor encoder sensor readings. When operating independently, the PID controller successfully optimized the motor control using Kp = 1, Ki = 0.5, and Kd = 0.01. However, superior results were achieved by integrating the Kalman filter (R = 0.1, Q = 0.01) with the PID controller (Kp = 1, Ki = 0.4, Kd = 0.1), with successful reference tracking within a rise time value of 1.037 seconds, a completion time of 2.093 seconds, and a surpassing of 1.073%. These findings formed an efficient methodology for reducing encoder sensor reading results and speeding up the DC motor in achieving reference values using a combined PID-Kalman approach.
Enhanced Hybrid Robust Fuzzy-PID Controller for Precise Trajectory Tracking Electro-Hydraulic Actuator System Ali, Nur Husnina Mohamad; Ghazali, Rozaimi; Tahir, Abdul Wafi; Jaafar, Hazriq Izzuan; Ghani, Muhammad Fadli; Soon, Chong Chee; Has, Zulfatman
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1407

Abstract

The Electro-Hydraulic Actuator (EHA) system integrates electrical and hydraulic elements, enabling it to generate a rapid reaction, a high power-to-weight ratio, and significant stiffness. Nevertheless, EHA systems demonstrate non-linear characteristics and modeling uncertainties, such as friction and parametric uncertainty. Designing a controller for accurate trajectory tracking is greatly challenging due to these limitations. This paper introduces a hybrid robust fuzzy proportional-integral-derivative (HFPID) and (HF+PID) controller. The controller is designed to effectively control a third-order model of an EHA system for trajectory tracking. It is a significant contribution to the development of an intelligent robust controller that can perform well in different environments. Initially, a mathematical model for the EHA system was created using a first-principle approach. Subsequently, the Ziegler-Nichols method was employed to fine-tune the PID controller, while a conventional Fuzzy Logic Controller (FLC) was constructed in MATLAB Simulink utilizing linguistic variables and rule-based control. Without further tuning, the FL and PID controller are combined as a hybrid controller with different structures: Hybrid Fuzzy-PID (HFPID) and Hybrid Fuzzy+PID (HF+PID) controller. The Mean Square Error (MSE) and Root Mean Square Error (RMSE) are utilized as indices to assess the tracking accuracy and robustness of the four controllers. A greater value of MSE and RMSE indicates poorer performance of the controller. The results demonstrate that the HF+PID controller surpasses the other controllers by reaching the lowest MSE and RMSE values. It showcases the efficacy and accuracy in monitoring sinusoidal, multi-sinusoidal, and point-to-point trajectory tracking.  Future work should focus on implementing the designed controller on hardware for real-time performance and experimenting with various types of FLC or Hybrid controllers, such as self-tuning fuzzy-PID, to further explore their potential.
Utilize the Prediction Results from the Neural Network Gate Recurrent Unit (GRU) Model to Optimize Reactive Power Usage in High-Rise Buildings Rofii, Ahmad; Soerowirdjo, Busono; Irawan, Rudi; Caesarendra, Wahyu
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1351

Abstract

The growing urbanization and the construction sector, efficient use of electric energy becomes important, especially the use of reactive power. If excessive use causes decreased efficiency and increased operational costs. Decreased efficiency contributes to increasing exhaust gas volumes and greenhouse emissions. Efficient energy can achieved if planning and predictions are correct. This research applies the GRU neural network method with grid search initialization as a novelty predictive model for energy-use high-rise buildings in form fast training without multiple iterations because optimal hyperparameters are obtained. Experimental show the MAE and RMSE performance metrics of the GRU better than LSTM in predicting energy consumption data peak loads, off-peak loads and reactive power. The accuracy of GRU predictions can optimize the use of energy to contribute to saving the environment from exhaust emissions and the greenhouse effect in urban systems. Experimental results demonstrate the superiority of GRU over LSTM, proof of the much lower MAE and RMSE values. This metric shows the accuracy of GRU in generalizing data both during peak and off-peak hours, as well as in reactive power usage. By Utilizing GRU's capabilities, building management can manage reactive power usage effectively, allocate reactive power resources appropriately, and mitigate peak load times and the power factor within the threshold, thus avoiding additional costs and electrical system efficiency and contributing to reducing the carbon footprint and gas emissions greenhouse. Research on GRU is widely open in the high-rise building sector, including its integration with sensors to automatically control energy use.
Design and Manufacturing Using 3D Printing Technology of A 5-DOF Manipulator for Industrial Tasks Sharkawy, Abdel-Nasser; Nazzal, Jamal Mahmoud
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1456

Abstract

Robotic manipulators have become very necessary in industrial applications all over the world. In this paper, a 5-DOF robotic manipulator is designed and manufactured to simulate a real industrial task. The manipulator is intended to transfer an object with a weight of 30 grams from a known place to another known one, which is a pick and place task. Firstly, all parts of the manipulator are designed using SolidWorks software. During the design, all parts’ dimensions are considered. The end-effector of the manipulator is designed based on gear system. Secondly, 3D printing technology is used to manufacture these designed parts. The manufacturing process is very accurate and efficient. Servo motors are considered to do the motion of the manipulator, which are easily and directly connected to the control circuit. As, 5-DOF manipulator is manufactured, five servo motors are used: one motor for every joint. The motion of the motors is controlled by Arduino Uno unit which is a cheap and easy programming unit. Experiments are executed with the developed robot to show its effectiveness and success by preparing three boxes which the robot effectively transfers from one place to another. Eventually, the challenges during the design and manufacturing of this robot are mentioned in this paper. 
Bifurcation Analysis of a Non-Linear Vehicle Model Under Wet Surface Road Condition Kumar, Abhay; Verma, Suresh Kant; Dheer, Dharmendra Kumar
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1346

Abstract

The vehicles are prone to accidents during cornering on a wet or low friction coefficient roads if the longitudinal velocity (Vx) and steering angle (δ) are increased beyond a certain limit. Therefore, it is of major concern to analyze the behaviour and define the stability boundary of the vehicle for such scenarios. In this paper, stability analysis of a 2 degrees of freedom nonlinear bicycle model replicating a car model including lateral (sideslip angle β) and yaw (yaw rate r) dynamics only operating on a wet surface road has been performed. The stability is analysed by utilizing the phase plane method and bifurcation analysis. The obtained converging and diverging nature of the trajectories (β, r) depicts the stable and unstable equilibrium points in the phase plane. The movement of these points results in the transition of the stability known as bifurcation due to the change in the control parameters (Vx, δ). The Matcont/Matlab is utilized to obtain the bifurcation diagrams and the nature of bifurcations. The obtained results show that a saddle node (SNB) and a subcritical Hopf bifurcation (HB) exists for steering angle (±0.08 rad) and higher than (±0.08 rad) with Vx = (10-40) m/s respectively. The SNB and HB denotes the spinning of the vehicle and sliding of the vehicle respectively, thus generating a unstable behaviour. A stability boundary is obtained representing the stable and unstable range of parameters.
Optimization Combining with Digital Transformation of the Men's Shirts Processing at Small and Medium-Sized Garment Enterprises in Vietnam Le, Tieu-Thanh; Bui, Phuong-Thao Thi; La, Ngoc-Anh Thi; Dang, Thai-Viet
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1313

Abstract

Industry 4.0 has become a hype among the manufacturing industries across the globe. Recent developments require significant capital investments, but these technologies are yet to be established in developing countries such as Vietnam, especially the apparel industry.  Based on a survey of the current situation at small and medium-sized enterprises in Vietnam's textile industry, the paper proposes to apply technology, test and evaluate the effectiveness of applying and coordinating digital systems in management and chain supply. Multifaceted applications have been specifically explored including automatic equipment and digital systems, spanning the domains of automation, robotics, artificial intelligence, data analytics, and the Internet of Things (IoT). These technologies are posited as catalysts for transformative improvements in production efficiency and resource utilization. Furthermore, experimental results point out the symbiotic relationship between technology adoption and effective management strategies to achieve holistic operational enhancements.  As the Vietnamese textile industry strives for competitive excellence in the global arena, this research offers actionable insights for industry practitioners, policymakers, and researchers.
Cascade PID Control for Altitude and Angular Position Stabilization of 6-DOF UAV Quadcopter Mien, Trinh Luong; Tu, Tran Ngoc; An, Vo Van
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1410

Abstract

UAVs are commonly used in transportation, especially in the express delivery of light cargo parcels. However, controlling UAVs is difficult because of their complex structure and wide range of operations in space. The research contribution is proposed a cascade control structure using six PID controllers for the 6-DOF UAV quadcopter, that ensures the altitude angulars positions control at the desired values and maintains flight balance stability for the 6-DOF UAV quadcopter. First, the mathematical dynamic models for the 6-DOF UAV quadcopter have been researched and developed, including the translational dynamic mathematical model and the rotational dynamic mathematical model of the 6-DOF UAV quadcopter. This is a complex object with strong nonlinearity and difficult control. And then, the article introduces the method of designing six PID controllers for 6-DOF UAV quadcopter to meet the requirements, based on applying the Ziegler-Nichols experimental method.  Applying the Ziegler-Nichols experimental method makes the process of designing a UAV quadcopter control system simple, straightforward and heuristics with fast controller parameters tuning. Next, the article presents the results of modeling and simulation of the 6-DOF UAV quadcopter control system on Matlab/Simulink. The simulation results show that the six proposed PID controllers have ensured the flight balance stability at the desired altitude and angular positions with overshoot less than 20%, steady-state error less than 1%.  This shows the prospect of applying the proposed PID control method to physical UAVs, easily adjusting PID parameters to suit the flight environment.
Interval-Valued Intuitionistic Fuzzy Cosine Similarity Measures for Real World Problem Solving Palanisamy, Sangeetha; Periyasamy, Jayaraman
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1251

Abstract

Similarity measures (SMs) are fundamental in various applications, including identifying patterns within medical data and aiding pattern recognition (PR) by quantifying the likeness between different patterns. Moreover, they play a crucial role in real-world problems such as Multiple Criteria Decision Making (MCDM), where decision-makers assess and compare alternatives based on multiple criteria simultaneously. Moreover, Cosine similarity is a measurement that quantifies the similarity between two or more objects. This study presents a comprehensive exploration of Interval-Valued Intuitionistic Fuzzy Cosine Similarity Measures (IV IF CSMs) as a novel technique for assessing the degree of association between objects in realworld applications. By extending traditional cosine similarity measures (CSM) to interval-valued intuitionistic fuzzy sets (IV IFS), the proposed IV IF CSMs offer an effective framework for handling uncertainty, ambiguity, and imprecision in decision-making processes. The research demonstrates the practical utility of IV IF CSMs in addressing complex issues in PR, medical diagnosis (MD), and MCDM. In contrast to established methods like Singh’s, Xu’s, and Luo’s measures, our approach consistently generates higher similarity values, encompassing both membership (MF) and non-membership (NMF) with interval values.
Robust Voltage Control of a Single-Phase UPS Inverter Utilizing LMI-Based Optimization with All-Pass Filter Under System Uncertainty Tang, Heng; Choeung, Chivon; Srang, Sarot; So, Bunne; Yay, Socheat; Soth, Panha; Cheng, Horchhong
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1452

Abstract

This paper proposes a systematic control design for a single-phase LC-filtered inverter considering uncertain system parameters. One major difficulty in controlling single-phase power converters is the lack of a direct conversion method for transforming single-phase signals into dq-frame signals. By employing an all-pass filter in this proposed approach, it is possible to control the output voltage in terms of DC quantity or the dq-rotating frame. Furthermore, voltage stability and harmonic distortion (THD) minimization of the uninterruptible power supply (UPS) are major concerns in inverter design. Therefore, this controller uses integral action to get rid of steady-state errors and stabilize the closed-loop system by the state feedback control. In order to enlarge and guarantee the stability range in the presence of potential parameter fluctuations, an uncertainty model is being considered. In this context, the uncertainty models refer to the potential model with variations in the filter's inductance and capacitance caused by operating temperature, aging, and various external factors. The efficacy of the control approach is assessed through simulations and experiments, with the objective of comparing its results with those of the PI control using a control board featuring a TMS320F28335 digital signal processor. Consequently, the proposed approach offers lower THD at every load step with lesser afford in performance tuning in comparison to the PI method.
Aircraft Pitch Control via Filtered Proportional-Integral-Derivative Controller Design Using Sinh Cosh Optimizer Abualigah, Laith; Ekinci, Serdar; Izci, Davut
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1433

Abstract

An innovative approach to controlling aircraft pitch is shown in this research. This approach is accomplished by adopting a proportional-integral-derivative with filter (PID-F) mechanism. A novel metaheuristic approach that we propose is called the sinh cosh optimizer (SCHO), and it is intended to further optimize the settings of the PID-F controller that is used in the aircraft pitch control (APC) configuration. An in-depth comparison and contrast of the recommended method is carried out, and statistical and time domain assessments are utilized in order to ascertain the success of the method. When it comes to managing the APC system, the SCHO-based PID-F controller delivers superior performance compared to other modern and efficient PID controllers (salp swarm based PID, Harris hawks optimization based PID, grasshopper algorithm based PID, atom search optimization based PID, sine cosine algorithm based PID, and Henry gas solubility optimization based PID) that have been published in the literature. When compared to alternative approaches of regulating the APC system, the findings demonstrate that the way that was presented is among the most successful as better statistical (minimum of 0.0033, maximum of 0.0034, average of 0.0034 and standard deviation of 5.1151E−05) and transient response (overshoot of 0%, rise time of 0.0141 s, settling time of 0.0230 s, peak time of 0.0333 s and steady-state error of 0 %) values have been achieved.

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