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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 50 Documents
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Search results for , issue "Vol 5, No 2 (2025)" : 50 Documents clear
Analytical Investigation of the Existence and Ulam Stability of Integro-Differential Equations with Conformable Derivatives Under Non-Local Conditions Fakhreddine, Seddiki; Hazaymeh, Ayman A; Aljazzazi, Mazin; Qaralleh, Reham; Bataihah, Anwar; Batiha, Iqbal M.; Hajaj, Rasha Ibrahim
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1828

Abstract

This study examines an integro-differential equation involving fractional conformable derivatives and non-local conditions. It proves the existence and uniqueness of mild solutions by applying the Banach fixed-point theorem. Furthermore, it demonstrates a notable result about the existence of at least one solution, backed by conditions based on the Krasnoselskii fixed-point theorem. The investigation also explores the Ulam stability of integro-differential equations. To highlight the practical relevance and robustness of the findings, an illustrative example is provided.
Enhanced Voltage Regulation of Buck Converter-Fed DC Motors Using Fuzzy Logic Control Under Dynamic Load Conditions Mohamed, Mawada Ahmed; Toha, Siti Fauziah; Abdullah, Muhammad; Ahmad, Salmiah; Nor, Khairul Affendy Md.; Hassan, Masjuki Haji; Idris, Ahmad Syahrin
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1836

Abstract

Buck converters are widely employed in power electronics for efficient DC voltage regulation, particularly in applications such as motor drives and embedded systems. However, conventional control methods, such as PID, often exhibit limitations including significant voltage ripple, overshoot, and sluggish dynamic response under varying load conditions. This study introduces a fuzzy logic controller (FLC) integrated into a buck converter system to address these challenges through adaptive and nonlinear control. The research contribution is the design and simulation of an FLC-based voltage regulation strategy that enhances output stability and improves transient performance in DC motor applications. The proposed buck converter operates in continuous conduction mode and consists of an IGBT switch, inductor, diode, and filter capacitor. The FLC employs voltage deviation and its rate of change as input variables and utilizes a 25-rule Mamdani fuzzy inference system to modulate the duty cycle in real time. Simulated in MATLAB Simulink with a dynamic DC motor load, the FLC demonstrates superior control characteristics over the PID controller. Most notably, voltage ripple is reduced by over 65%, leading to improved voltage stability and reduced fluctuations. The FLC also exhibits faster settling behavior and better handling of dynamic load variations, confirming its effectiveness in nonlinear and time-varying systems. Future work will focus on hardware validation, hybrid control integration, and deployment in renewable energy and electric vehicle systems to improve adaptability and real-world performance.
Recent Advances in Energy-Efficient Fractional-Order PID Control for Industrial PLC-Based Automation: A Review Francis, Sandra; Shah, Pritesh; Singh, Abhaya Pal; Sekhar, Ravi
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1825

Abstract

Through intelligent control and data-driven decision-making, Industry 4.0 transforms industrial automation by combining the digital, physical, and virtual worlds. The use of advanced control techniques, especially Fractional-Order PID (FOPID) controllers, has drawn a lot of attention due to the rising need for accurate and energy-efficient industrial automation. By examining recent developments in the application of energy-efficient FOPID controllers for Programmable Logic Controller (PLC) based automation systems, this review tries to bridge a gap in the body of literature. The study thoroughly examines more than ten years of research, classifying contributions according to optimization, fractional calculus approximations, and control design techniques. The reported results from various studies are compared using key performance indicators like energy consumption, ISE, ITAE, and IAE. The results show that FOPID controllers continuously perform better than classical PID in terms of energy efficiency, robustness, and control accuracy. However, there are still difficulties in striking a balance between real-time constraints and computational complexity, particularly in industrial settings. This review emphasizes how FOPID controllers can be used to achieve automation that is Industry 4.0 compatible, adaptive, and energy-efficient. It also emphasizes the necessity of future studies into hybrid optimization and lightweight implementation for nextgeneration PLC systems, as well as the need for standardized benchmarking frameworks.
Fractional-Order Discrete Predator–Prey System of Leslie Type: Existence, Stability, and Numerical Simulation Jebril, Iqbal H.; Lakehal, Aymen; Benyoussef, Soufiane
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1864

Abstract

This study explores a fractional-order (FO) discrete predator prey (PP) system of Leslie type (LT) by incorporating fractional differences in the Caputo-Fabrizio-Riemann (CFR) sense. We rigorously establish the existence and uniqueness of solutions and provide a comprehensive stability analysis. A novel numerical scheme is developed to approximate the system’s dynamics, yielding deeper insights into PP interactions under FO effects. Furthermore, we validate our theoretical findings using numerical simulations, which confirm the robustness and accuracy of the proposed model. The results underline the significance of fractional calculus (FC) in ecological modeling and pave the way for future investigations in population dynamics.
The Utilization of a TSR-MPPT-Based Backstepping Controller and Speed Estimator Across Varying Intensities of Wind Speed Turbulence Elzein, I. M.; Maamar, Yahiaoui; Mahmoud, Mohamed Metwally; Mosaad, Mohamed I.; Shaaban, Salma Abdelaal
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1793

Abstract

Because wind systems are so prevalent in the electrical grid, an innovative control method can significantly increase the productivity of permanent magnet synchronous generators (PMSG). A wind power generation system's maximal power point (MPP) tracking control approach is presented in this paper. The nonlinear backstepping controller, which is robust to parameter uncertainty, is used in this work to enhance the tip speed ratio approach.  To lower the system's equipment and maintenance costs, we suggested utilizing a speed estimator. As a novel addition to the backstepping controller development, the suggested estimator is a component of the backstepping controller development. The control and system organization approaches are presented. Lyapunov analysis is used to guarantee the stability of the controller. To assess the suggested approach, step change and varying wind speed turbulence intensities are employed. The results expose the great efficiency of the proposed method in both tracking MPP and calculating generator speed.  The proposed control strategy and structure are validated by MATLAB simulations.
Collision Avoidance in Mini Autonomous Electric Vehicles Using Artificial Potential Fields for Outdoor Environment Saputro, Joko Slamet; Juliatama, Hanif Wisti; Adriyanto, Feri; Maghfiroh, Hari; Apriaskar, Esa
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1708

Abstract

The rapid advancement of technology is driving the transition toward Society 5.0, where intelligent transportation systems enhance safety, efficiency, and sustainability. One of the biggest challenges in transportation is the high frequency of vehicle accidents, with approximately 80% attributed to driver error. To mitigate this, Advanced Driver Assistance Systems (ADAS) have been developed to improve vehicle autonomy and reduce accidents. This research proposes a potential field-based collision avoidance system for autonomous vehicle navigation, where the vehicle and obstacles act as positive poles, repelling each other, while the target destination serves as a negative pole, attracting the vehicle. Experimental results demonstrate a GPS positioning error of 1.55 m with a 66% success rate and LiDAR sensor accuracy of 96.4%, exceeding the required 95% threshold. Obstacle avoidance was tested with two safety thresholds (2 m and 2.5 m) across single- and two-obstacle scenarios. The 2 m threshold resulted in shorter travel distances (16.406 m vs. 16.535 m for 2.5 m) and faster completion times (19.036 s vs. 19.144 s), while the 2.5 m threshold provided greater clearance. GPS accuracy was significantly influenced by HDOP values and satellite count, with lower HDOP improving trajectory precision. The system successfully adjusted its trajectory in response to obstacles, ensuring effective real-time navigation.
Utilizing Short-Time Fourier Transform for the Diagnosis of Rotor Bar Faults in Induction Motors Under Direct Torque Control Bousseksou, Radouane; Bessous, Noureddine; Elzein, I. M.; Mahmoud, Mohamed Metwally; Ma'arif, Alfian; Touti, Ezzeddine; Al-Quraan, Ayman; Anwer, Noha
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1886

Abstract

Industrial applications rely heavily on induction motors (IMs). Even though any IM problem can seriously impair operation, rotor bar failures (RBFs) are among the toughest to identify because of their detection challenges. RBFs in IMs can significantly impact performance, leading to reduced efficiency, increased vibrations, and potential IM failure. This research provides a thorough analysis of diagnosing these issues by detecting RBFs and evaluating their severity using three sophisticated signal processing techniques (Fast Fourier Transform (FFT), Short-Time Fourier Transform (STFT), and Discrete Wavelet Transform (DWT)). The three techniques (FFT, DWT, and STFT) are used in this work to assess the stator currents. An accurate mathematical model of the IM under RBFs serves as the basis for the simulation. The robustness of Direct Torque Control (DTC) is assessed by examining the IM's behavior in both normal and malfunctioning situations. Although the results show that DTC successfully preserves motor stability even when there are flaws, the current analysis offers some significant variation. The findings show that when it comes to identifying RBFs in IMs and determining their severity, the STFT performs better than FFT and DWT. The suggested method maintains low estimation errors and strong performance under various operating situations while providing high failure detection accuracy and the ability to discriminate between RBFs.
Trapezoidal Scheme for the Numerical Solution of Fractional Initial Value Problems Batiha, Iqbal M.; Alsamad, Hebah F.; Jebril, Iqbal H.; Al-Khawaldeh, Hamzah O.; Kasasbeh, Wala’a A. Al; Momani, Shaher
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1795

Abstract

The purpose of this study is to recall the main concepts and definitions in relation to the fractional calculus. In light of this overview, we will propose a novel fractional version of the so-called Trapezoid method named by the fractional Trapezoid method. Such a method will then be used to numerically solve the analog version of the initial value problems called fractional initial value problem FIVPs. As consequences of the proposed numerical approach, several numerical examples will be illustrated to verify the efficiency of the proposed numerical approach.
Hierarchical Cascaded Takagi-Sugeno Model Predictive Control for Performance Enhancement of Doubly-fed Induction Generator-Based Wind Turbine Systems Aggoune, Amira; Berrezzek, Farid; Khelil, Khaled
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1786

Abstract

This paper proposes a cascaded Takagi-Sugeno Model Predictive Controller (TS-MPC) for a Doubly-fed Induction Generator (DFIG) based Wind Power Conversion System (WPCS) to maximize power extraction, maintain zero stator reactive power, and enhance power quality. For this purpose, the Takagi-Sugeno Fuzzy Logic Control (TS-FLC) is arranged in a sequential configuration with the Finite Control-Set Model Predictive Control (FCS-MPC) strategy to enhance the overall performance of the wind power system. The introduced control technique, which is applied to govern the Rotor Side Converter (RSC) of the DFIG, consists of two cascaded control loops for achieving Maximum Power Point Tracking (MPPT). The innermost control loop is implemented to regulate the d-q axis rotor currents using FCS-MPC strategy. Meanwhile the outermost control loop is employed to regulate the DFIG’s rotational speed pursuant to the Tip Speed Ratio MPPT (TSR-MPPT) control framework using the TS-FLC, thus improving the predictive accuracy and control effectiveness.  To validate the performance of the devised control scheme, a numerical simulation of a 1.5MW DFIG based WPCS was conducted using MATLAB/Simulink software. The simulation results demonstrate that the proposed cascaded TS-MPC not only outperforms the cascaded PI-MPC in terms of superior adaptability to nonlinearities and varying wind conditions—thanks to the inherent flexibility of TS-FLC—but also in various performance metrics, including response time, steady-state error, and total harmonic distortion (THD).Furthermore, while FCS-MPC approaches are often criticized for computational complexity, the TS-FLC structure enhances real-time feasibility by reducing computational overhead compared to conventional FLC methods. These findings reinforce the practical viability of TS-MPC for large-scale wind energy applications and indicate the effectiveness of the proposed control scheme.
Stability Analysis of a Fractional-Order Lengyel–Epstein Chemical Reaction Model Bouaziz, Khelifa; Djeddi, Nadhir; Ogilat, Osama; Batiha, Iqbal M.; Anakira, Nidal; Sasa, Tala
International Journal of Robotics and Control Systems Vol 5, No 2 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i2.1848

Abstract

In this paper, we stady a mathematical model based on a system of fractional-order differential equations to describe the dynamics of the Lengyel–Epstein chemical reaction, which is well known for exhibiting oscillatory behavior. The use of fractional derivatives allows in chemical processes compared to classical integer-order models. We specifically focus on analyzing the stability of the system’s positive equilibrium point by applying fractional calculus techniques. The stability conditions are derived and discussed in the context of the fractional-order parameters. To validate the theoretical findings, we perform numerical simulations using the Forward Euler method adapted for fractional-order systems. These simulations illustrate the impact of the fractional order on the system’s dynamic behavior and confirm the analytical results regarding equilibrium stability.

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