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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 361 Documents
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Experimental Analysis of Fresnel Lens-Based Solar Desalination Systems with Copper Receivers for Enhanced Thermal and Electrical Performance Mahmood, Abdulkareem Nasir; Azmi, Syahrul Ashikin binti; El-Khazali, Reyad; Çiçek, Adem; Assi, Saad A.; Al-Naimi, Taha Mahmoud; Majdi, Hasan S.; Bektas, Enes; Radhi, Ahmed Dheyaa; Hussain, Abadal-Salam T.
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.v5i2.1852

Abstract

Solar desalination represents a breakthrough technology for creating sustainable freshwater because it meets both the water quality standards and technology efficiency requirements of modern times. The current desalination methods, which depend on fossil fuels, encounter major obstacles regarding their energy requirements and economical performance. The research investigates the improvement of solar desalination performance through coupling Fresnel lens technology with copper-based receivers to maximize thermal characteristics and power generation benefits. This research successfully unites Fresnel lenses of high performance with copper receivers to reach increased steam temperatures alongside power production during the same procedure. The research team performed experimental tests using a system that included four large Fresnel lenses in Sharjah, UAE. Under different operating settings, the system demonstrated its performance by measuring its flow rates together with ambient temperatures and recording the steam output values. The experimental data showed that bigger Fresnel lenses boosted the steam temperature beyond 1000°C as well as pushing pressure levels to 8 bar, which led to remarkable system efficiency benefits. The copper receiver system generated 775 mA DC electric current, which collectively enhanced the system's power efficiency. The tested combination of Fresnel lenses and copper receivers demonstrates an effective way to enhance solar desalination systems, according to observed experimental data. The dualfunction technology combines desalination efficiency improvement with electricity production capabilities to establish a sustainable freshwater production method for arid regions. This investigation creates a basis for developing economical renewable desalination systems going forward.
Dynamic Ball Balancing Using Deep Deterministic Policy Gradient (DDPG)-Controlled Robotic Arm for Precision Automation Lakshmi, K Vijaya; Manimozhi, M; Kumari, J Vimala
International Journal of Robotics and Control Systems Vol 5, No 3 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i3.1892

Abstract

This paper presents a reinforcement learning (RL)-based solution for dynamic ball balancing using a robotic arm controlled by the Deep Deterministic Policy Gradient (DDPG) algorithm. The problem addressed is maintaining ball stability under external disturbances in automated manufacturing. The proposed solution enables adaptive, precise control on flat surfaces. The research contribution is a comparative evaluation of DDPG and Soft Actor-Critic (SAC) algorithms for trajectory control and stabilization. A simulated environment is used to train the RL agents across multiple initial ball positions. Key performance metrics-settling time, rise time, overshoot, and steady-state error-are analyzed. Results show DDPG outperforms SAC with smoother trajectories, ~25% faster settling times, and significantly lower overshoot and steady-state errors. Visual analysis confirms that DDPG consistently drives the ball to the center with minimal deviation. These findings highlight DDPG’s advantages in control accuracy and stability. In conclusion, the DDPG-based approach proves highly effective for precision automation tasks where fast, stable, and reliable control is essential.
Design and Implementation of Proportional-Integral Controller for Single Phase Stand-Alone Inverter with an LC-Filter Kareem, Tamarah; Shneen, Salam Waley; Al-Abbasi, Mohammed
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.v5i2.1876

Abstract

Obtaining a sine wave from a DC source using an inverter and a filter is a challenge that requires a suitable design to meet load requirements as operating conditions change. This work aims to develop a suitable design for an LC-type pass-through filter and a suitable design for a conventional controller. A simulation model for the implementation and operation of a single-phase standalone inverter is being developed and designed using Matlab. In this work, the researchers demonstrate the behavior of a simulated system using a single-phase inverter model connected to a 400 V DC power supply. An LC-type filter is also connected to the inverter and the load. Tests are conducted to determine the system's behavior under various conditions. The researchers are interested in changing operating conditions, and the problem of load variations, on the one hand, and transients and the system's return to a steady state, on the other. The researchers propose one method for overcoming system fluctuations using a conventional controller (PI controller). Tests can cover identifying system behavior, and from there, using the controller, an appropriate reference voltage can be set to supply the load. The proposed model consists of a power supply, four IGBT transistor switches to build a single-phase bridge inverter, a filter with an inductor (4.06e-3H) and a capacitor (6.23e-6F), as well as a reference voltage of 200V and 300V, and a load of 55? and 100?. A suitable conventional microcontroller (PIC) is also designed. The feasibility of providing a sine wave with the proposed reference voltage has been verified, proving the feasibility of the model and its potential for future use. Matlab was used to conduct simulation tests of the proposed model, and high performance, accuracy, and quality were obtained at a level suitable for real-time applications.
Fault Detection and Identification Scheme for Boost Converter for Hybrid Vehicles Debab, Nadjib Adil; Bendjedia, Bachir; Bougrine, Mohamed; Djerioui, Ali; Ghellab, Mohamed Zinelaabidine
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.v5i2.1867

Abstract

In a wide range of applications, such as smart buildings, electric vehicles, hybrid systems, and renewable energy, dc dc converters are crucial. The dc dc converters have many topologies, and the boost converter is one of the most important. The problem. The boost converter is connected to other sensitive devices and components, so any fault in the Boost converter will lead to a system issue, which may cause catastrophic damage to humans and related devices. These faults include parameter degradation of passive components, open switch failure, and sensors failures. Goal. The development of a fault detection and identification scheme for a dc-dc boost converter is the main goal of this study. Therefore, it is essential to make sure that the converters are safe from malfunctions and that there are no major accidents or disasters in order for them to carry out their vital jobs. Methodology. The scheme covers a wide range of potential faults, such as parametric degradation of passive components, open switch fault, and sensors failures. We created the scheme as a structured algorithm based on residuals between observers and measurements from the sensors, residuals between open switch fault signature and measurements from the sensors, residuals between assumed values of the sensors and real measurements, and carefully considered thresholds to compare these residuals with. Results. Simulations were used to assess the proposed scheme. The results show the effectiveness of the scheme in detecting and identifying faults quickly and accurately. The originality. of this work lies in the creation of a fault detection and identification scheme using luenberger observers and specific thresholds without the need for additional sensors or devices.
Enhancing MG996R Servo Motor Performance Using PSO-Tuned PID and Feedforward Control Chotikunnan, Phichitphon; Pititheeraphab, Yutthana; Angsuwatanakul, Thanate; Prinyakupt, Jaroonrut; Puttasakul, Tasawan; Chotikunnan, Rawiphon; Thongpance, Nuntachai
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.v5i2.1854

Abstract

The aim of this research is to improve the precision of factory-locked MG996R servo motors, which are frequently employed in biomedical and robotic applications. These motors are characterized by the absence of inherent feedback channels and adjustable internal settings. The proposed technique proposes a non-invasive control strategy that utilizes externally obtained feedback to enable closed-loop control without requiring any modifications to the interior circuitry. The scientific contribution consists of the development of an outer-loop PID control framework that has been optimized using Particle Swarm Optimization (PSO) and enhanced with feedforward compensation. By utilizing the inherent potentiometer, this method ensures the preservation of hardware integrity and enables real-time angle feedback. A model fit of 96.94% was achieved by establishing a second-order discrete-time model using MATLAB's System Identification Toolbox. Particle Swarm Optimization (PSO) was employed to optimize PID improvements offline by minimizing the Integral of Squared Error (ISE). In both experimental and simulated environments, the controller's effectiveness was assessed using 2 rad/s sine wave inputs and a 10° step. The PSO-PID with feedforward controller achieved optimal results, achieving an RMSE of 0.5313° and an MAE of 0.1630° in simulations, as well as an MAE of 0.8497° in hardware step response. The requirement for gain scaling in embedded systems was underscored by the instability of the standalone PSO-PID controller. This method offers a pragmatic, scalable solution for applications such as assistive robotics, prosthetic joints, and surgical instruments. In order to achieve sub-degree precision in safety-critical environments, future endeavors will entail the implementation of adaptive gain tuning and enhanced resolution sensing.
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.
A Comparative Study of Fuzzy Logic Controller, ANFIS, and HHOPSO Algorithms in the LEACH Protocol for Optimising Energy Efficiency and Network Longevity in Wireless Sensor Networks Shafeeq Bakr, Zaid; Hassan, Reem Falah; Al-Tahir, Sarah O.; Basil, Noorulden; Ma'arif, Alfian; Marhoon, Hamzah M.
International Journal of Robotics and Control Systems Vol 5, No 3 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i3.1918

Abstract

This research provides a thorough analysis of the algorithms used in the Low Energy Adaptive Clustering Hierarchy (LEACH) protocol for Wireless Sensor Networks (WSNs) to apply Fuzzy Logic, Adaptive Neuro-Fuzzy Inference System (ANFIS), and Harris Hawks Optimisation-Particle Swarm Optimisation (HHOPSO). The primary aim of this paper is to compare and measure these methods by how they save energy, prolong the network’s lifetime and choose the best cluster heads. We look at major indicators such as First Node Death (FND) and the number of rounds when 80% and 50% of nodes are still working, by testing 100 simulated network nodes. The HHOPSO is shown to do a better job at keeping node batteries alive and, at length the network in operation than both Fuzzy Logic and ANFIS. Moreover, ANFIS is more effective than Fuzzy Logic, because it can learn better from data. It is found that HHOPSO helps LEACH become more efficient and effective, contributing new information about how to manage energy and network performance in Wireless Sensor Networks. The document shows the effectiveness of advanced algorithms in keeping sensor networks running longer and offers ideas on how to evaluate them in various network settings.
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.

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