International Journal of Robotics and Control Systems
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.
Articles
361 Documents
<![CDATA[Optimizing the Parameters of Sliding Mode Controllers for Stepper Motor through Simulink Response Optimizer Application ]]>
<![CDATA[Magdi Sadek Mahmoud]]>;
<![CDATA[Ali H. AlRamadhan]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 2 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i2.345
<![CDATA[This paper will focus on optimizing parameters of sliding mode controllers (SMC) for hybrid stepper motor models simulated in Matlab/Simulink. The main objective is to achieve a smooth transient and robust, steady-state to track reference rotor position when the stepper motor is subjected to load disturbances. Two different structures of SMC controllers will be studied, which are based on the flat system concept that is applicable to the stepper motor model. The hassle to determine controller parameters will be optimized using the Simulink Response Optimizer application. The performance of the controllers will be evaluated by considering load torque and variation in the model parameters. Although the results showed that an open-loop controller could move the rotor to the desired position, however, the transient response had undesired oscillations before the output settled at the steady state. The response was improved by optimizing SMC controllers’ parameters to meet the desire step response requirement. Despite both SMC methods have successfully tracked the reference, there are some challenges to deal with each method in regard to the state measurements, the number of optimized controllers’ parameters, and the scattering of control inputs.]]>
<![CDATA[Review of Aerial Manipulator and its Control ]]>
<![CDATA[Xu Wei-hong]]>;
<![CDATA[Cao Li-jia]]>;
<![CDATA[Zhong Chun-lai]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 3 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i3.363
<![CDATA[The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, and its problems are summarized and prospected.]]>
<![CDATA[Synchronization of Active Power Filter under Distorted Grid Conditions ]]>
<![CDATA[Ikram Ullah]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 3 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i3.464
<![CDATA[Advancement in technology has resulted in increased use of electrical energy. The trend of using energy-saving appliances is also increased considerably. Harmonic currents have been increased in power systems due to the large-scale use of nonlinear loads. Shunt Active Power Filter (SAPF) is the most widely used technique for the compensation of current harmonics. Under adverse grid conditions performance of SAPF is affected badly. In this paper, a modified synchronous reference frame theory is proposed for current reference generation by incorporating an advanced phase-locked loop technique for the estimation of frequency and phase. The proposed approach results in an accurate extraction of reference current in the presence of various grid disturbances. Matlab/Simulink environment is used for evaluating the performance. The results achieved show excellent performance of the proposed technique in terms of reducing harmonics distortion and dynamic response. The total harmonics distortion of the compensated source current is reduced to a value well within the limits of the IEEE-519 standard.]]>
<![CDATA[Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation ]]>
<![CDATA[Sa’aadat Syafeeq Lone]]>;
<![CDATA[Norsinnira Zainul Azlan]]>;
<![CDATA[Norhaslinda Kamarudzaman]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 4 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i4.447
<![CDATA[A huge population of the world is suffering from various kinds of disabilities that make basic daily activities to be challenging. The use of robotics for limb rehabilitation can assist patients to recover faster and reduce therapist to patient ratio. However, the main problems with current rehabilitation robotics are the devices are bulky, complicated, and expensive. The utilization of pneumatic artificial muscles in a rehabilitation system can reduce the design complexity, thus, making the whole system light and compact. This paper presents the development of a new 2 degree of freedom (DOF) wrist motion and thumb motion exoskeleton. A light-weight 3D printed Acrylonitrile Butadiene Styrene (ABS) material is used to fabricate the exoskeleton. The system is controlled by an Arduino Uno microcontroller board that activates the relay to open and close the solenoid valve to actuate the wrist. It allows the air to flow into and out of the pneumatic artificial muscles (PAM) based on the feedback from the sliding potentiometer. The mathematical model of the exoskeleton has been formulated using the Lagrange formula. A Proportional Integral Derivative (PID) controller has been implemented to drive the wrist extension-flexion motion in achieving the desired set-points during the exercise. The results show that the exoskeleton has successfully realized the wrist and thumb movements as desired. The wrist joint tracked the desired position with a maximum steady-state error of 10% for 101.45ᵒ the set point.]]>
<![CDATA[Enhanced Low Voltage Ride Through Capability for Grid Connected Wind Energy Conversion System ]]>
<![CDATA[Mohammed Alsumiri]]>;
<![CDATA[Raed Althomali]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 3 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i3.441
<![CDATA[It is obvious that the current era has received much attention in the fields of science and technology, besides the continuous endeavor to provide environmentally friendly and resource-saving alternatives for conventional energy conversion systems. The rapid development of Wind Energy Conversion Systems (WECS) has made Permanent Magnet Synchronous Generator (PMSG) a primer choice because of its advantages. The current trend on WECS necessitates wind turbines to maintain continuous operation during voltage drops, which is referred to as Low Voltage Ride Through (LVRT). The PMSG control technique is a widely used approach for improving conversion efficiency as well as LVRT capability. This paper provides LVRT and power enhancement for grid-connected PMSG based WECS using control techniques. The LVRT capability has been investigated by using PI and Residue controllers. The simulation results show improved active power delivery and better LVRT capability during voltage dips when the Residue controller is implemented.]]>
<![CDATA[Stirring System Design for Automatic Coffee Maker Using OMRON PLC and PID Control ]]>
<![CDATA[Ashadi Setiawan]]>;
<![CDATA[Alfian Ma'arif]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 3 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i3.457
<![CDATA[The implementation of the use of PLC in this study was designed for a small scale in the process of stirring coffee drinks at a speed of 600 RPM. To get a stable speed so that the water does not overflow, a control system is needed. To get optimal results, a system design that can control the stirring speed is arranged automatically using a Programmable Logic Controller (PLC). This system is designed using a rotary encoder sensor C38S6G5-600B-G24N as a speed reader obtained from the movement of the motor, DC Motor JGA25-370 12V as an actuator or stirrer. PLC OMRON CP1E-NA20DR-A is used as a motor speed control device using the Proportional Integral Derivative (PID) algorithm to control the system according to the setpoint entered. The motor speed control system with the PID algorithm shows a system response that works well according to the researchers' expectations. The response of the system obtained is fast enough to achieve a stable speed with a small overshoot value. Thus this system was successfully designed to control the stirring process of coffee drinks automatically and produce stable stirring by giving a set point of 600 RPM at the parameter constant Proportional band is 720%; Integral time is 1.6s; and Derivative time is 0.2s with a rise time value is 1.3s; settling time is 11s; overshoot is 1.1%; and steady-state error is 0.5%.]]>
<![CDATA[Robust Global Synchronization of a Hyperchaotic System with Wide Parameter Space via Integral Sliding Mode Control Technique ]]>
<![CDATA[Edwin A. Umoh]]>;
<![CDATA[Omokhafe J. Tola]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 4 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i4.485
<![CDATA[The inherent property of invariance to structural and parametric uncertainties in sliding mode control makes it an attractive control strategy for chaotic dynamics control. This property can effectively constrain the chaotic property of sensitive dependence on initial conditions. In this paper, the trajectories of two identical four-dimensional hyperchaotic systems with fully-known parameters are globally synchronized using the integral sliding mode control technique. Based on the exponential reaching law and the Lyapunov stability principle, the problem of synchronizing the trajectories of the two systems was reduced to the control objective of asymptotically stabilizing the synchronization error state dynamics of the coupled systems in the sense of Lyapunov. To verify the effectiveness of the control laws, the model was numerically tested on a hyperchaotic system with a wide parameter space in a master-slave configuration. The parameters of the hyperchaotic system were subsequently varied to evolve a topologically non-equivalent hyperchaotic system that was identically coupled. In both cases, the modeled ISM control laws globally synchronized the dynamics of the coupled systems after transient times, which sufficiently proved the invariance property of the ISMC. This study offers an elegant technique for the modeling of an ISMC for hyperchaotic coupling systems. As an open problem, this synchronization technique holds promises for applications in robot motion control, chaos-based secure communication system design, and other sensitive nonlinear system control. ]]>
<![CDATA[Robust Fuzzy Adaptive Control with MRAC Configuration for a Class of Fractional Order Uncertain Linear Systems ]]>
<![CDATA[Bachir Bourouba]]>;
<![CDATA[Samir Ladaci]]>;
<![CDATA[Rachid Illoul]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 3 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i3.426
<![CDATA[This paper investigates a novel robust fractional adaptive control design for a class of fractional-order uncertain linear systems. Based on the Model Reference Adaptive Control (MRAC) configuration, the objective of the proposed controller is to ensure the output of the controlled plant to track the output of a given reference model system, while maintaining the overall closed-loop stability despite external disturbances and model uncertainties. An adaptive fuzzy logic controller is employed to eliminate unknown dynamics and disturbance. Lyapunov stability analysis demonstrates and verifies the desired fractional adaptive control system stability and tracking performance. Numerical simulation results illustrate the efficiency of the proposed adaptive fuzzy control strategy to deal with uncertain and disturbed fractional-order linear systems.]]>
<![CDATA[Continuous Passive Motion Machine for Elbow Rehabilitation ]]>
<![CDATA[Hamzah Hussein Mohammed Al-Almoodi]]>;
<![CDATA[Norsinnira Zainul Azlan]]>;
<![CDATA[Ifrah Shahdad]]>;
<![CDATA[Norhaslinda Kamarudzaman]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 3 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i3.446
<![CDATA[Continuous Passive Machines (CPM) facilitate patients in eliminating joint stiffness after surgery and lead to a faster and more efficient recovery. However, many previous CPM machined are mechanically complicated, expensive, and lack a user interface. This paper presents a new CPM machine for elbow flexion-extension and forearm pronation-supination. The machine is simple, low-cost, and equipped with Graphical User Interface (GUI). Its mechanism is designed so that it can be used on the left or right arms interchangeably. It is developed using aluminum, perspex, and steel rods. The electrical part of the machine consists of Arduino Uno to drive the motors and a potentiometer to measure the patients’ Range of Motion (ROM). The GUI for setting the exercise parameters and monitoring the patients’ progress has been developed using MATLAB software. The experimental results show that the machine has successfully provided the repetitive desired motions. The machine realizes elbow flexion-extension and forearm pronation-supination movements with 0ᵒ-135ᵒ and 0ᵒ-90ᵒ ranges of motion (ROM), respectively. The machine is also capable of increasing the elbow joint’s ROM by 5ᵒ increments for the therapy. The results show that the machine has the potential to be used in hospitals and rehabilitation centers.]]>
<![CDATA[A Multifunction Robot Based on the Slider-Crank Mechanism: Dynamics and Optimal Configuration for Energy Harvesting ]]>
<![CDATA[Arnaud Notué Kadjie]]>;
<![CDATA[E. B. Tchawou Tchuisseu]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 1, No 3 (2021) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v1i3.408
<![CDATA[An electromechanical robot based on the modified slider-crank mechanism with a damped spring hung at its plate terminal is investigated. The robot is first used for actuation operation and for energy harvesting purposes thereafter. Mathematical modeling in both cases is proposed. As an actuator, the robot is powered with a DC motor, and the effect of the voltage supply on the whole system dynamics is found out. From the numerical simulation based on the fourth-order Runge-Kutta algorithm, results show various dynamics of the subsystems, including periodicity, multi-periodicity, and chaos as depicted by the bifurcation diagrams. Applications can be found in industrial processes like sieving, shaking, cutting, pushing, crushing, or grinding. Regarding the case of the robot functioning as an energy harvester, two different configurations of the electrical circuit for both single and double loops are set up. The challenge is to determine the best configuration for the high performance of the harvester. It comes from theoretical predictions and experimental data that the efficiency of the robot depends on the range values of the electrical load resistance RL. The double loop circuit is preferable for the low values of RL50 Ohm) while the single loop is convenient for high values of RL ≥ 50 Ohm.]]>
