cover
Contact Name
Alfian Ma'arif
Contact Email
alfian.maarif@te.uad.ac.id
Phone
-
Journal Mail Official
ijrcs@ascee.org
Editorial Address
Jalan Janti, Karangjambe 130B, Banguntapan, Bantul, Daerah Istimewa Yogyakarta, Indonesia
Location
Kota yogyakarta,
Daerah istimewa yogyakarta
INDONESIA
International Journal of Robotics and Control Systems
ISSN : -     EISSN : 27752658     DOI : https://doi.org/10.31763/ijrcs
Core Subject : 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.
Articles 21 Documents
Adaptive Fuzzy Fault-Tolerant Control for a Class of Nonlinear Systems under Actuator Faults: Application to an Inverted Pendulum Bounemeur, Abdelhamid; Chemachema, Mohamed
International Journal of Robotics and Control Systems Vol 1, No 2 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i2.306

Abstract

This work investigates a fuzzy direct adaptive fuzzy fault-tolerant Control (FFTC) for a class of perturbed single input single output (SISO) uncertain nonlinear systems. The designed controller consists of two sub-controllers. One is an adaptive unit, and the other is a robust unit, whereas the adaptive unit is devoted to getting rid of the dynamic uncertainties along with the actuator faults, while the second one is developed to deal with fuzzy approximation errors and exogenous disturbances. It is proved that the proposed approach ensures a good tracking performance against faults occurring, uncertainties, and exogenous disturbances, and the stability study of the closed-loop is proved regarding the Lyapunov direct method in order to prove that all signals remain bounded. Simulation results are presented to illustrate the accuracy of the proposed technique.
Wall Following Control System with PID Control and Ultrasonic Sensor for KRAI 2018 Robot Iqbal, Muhamad Hamam; Aji, Wahyu Sapto
International Journal of Robotics and Control Systems Vol 1, No 1 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i1.206

Abstract

Indonesian Abu Robot Contest (KRAI) in 2018 with the theme "Throwing a Blessing Ball". The main purpose of this robot is to be able to navigate automatically in an area that is bordered by walls to complete the mission. The main problem with the robot is the navigation system. The application of PID control in the wall following system has been able to make robot movements smooth, responsive, and fast. In this study, PID control aims to smooth the movement of the robot while walking along the wall in the race arena. The PID parameter is obtained from the results of tuning with the trial and error method, the values of KP = 3, KI = 0, and KD = 5. At the PWM 150 set point the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 4.4. cm. At the PWM 200 set point the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.4 cm. At the PWM 250 set point the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.8 cm. This error does not have an effect on the performance of the wall following system, because the system only uses the distance value reading data with a decimal value in front of the comma. So it can be concluded that the wall following system which is designed using ultrasonic sensors with measurement error that occurs is zero.
Experimental Study of Vertical Axis Wind Turbine Performance under Vibration Sarkar, Md Rasel; Julai, Sabariah; Nahar, Mst Jesmin; Uddin, Moslem; Rahman, Mahmudur; Tanshen, Md. Riyad
International Journal of Robotics and Control Systems Vol 1, No 2 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i2.335

Abstract

An experimental study was conducted to study the effects of flow uniformity on vibration and power generation of a small vertical axis wind turbine (VAWT). Previous studies have confirmed that one of the sources of vibration in the turbine is due to aerodynamic forces, which are due to incident wind. Firstly, understanding vibration is essential before proceeding to the measurements. In this experiment, further understand the vibrations of the turbine in operation, the operating deflection shape (ODS) technique was used. A wind tunnel and flow conditioner were fabricated. Experimental modal analysis (EMA) was conducted, and the dynamic characteristics are gathered. The ODS was conducted for operating the turbine at different speeds, with and without the flow conditioner. Results from EMA and ODS are correlated to explain the behavior of structures. In conclusion, the flow conditioner tested did have a big impact on the response of the structure in terms of vibration up to 30% indifference, but not so much in power generated about 2% indifference.
An Optimally Configured HP-GRU Model Using Hyperband for the Control of Wall Following Robot Rehman Khan, Abdul; Tamoor Khan, Ameer; Salik, Masood; Bakhsh, Sunila
International Journal of Robotics and Control Systems Vol 1, No 1 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i1.281

Abstract

In this paper, we presented an autonomous control framework for the wall following robot using an optimally configured Gated Recurrent Unit (GRU) model with the hyperband algorithm. GRU is popularly known for the time-series or sequence data, and it overcomes the vanishing gradient problem of RNN. GRU also consumes less memory and is computationally more efficient than LSTMs. The selection of hyper-parameters of the GRU model is a complex optimization problem with local minima. Usually, hyper-parameters are selected through hit and trial, which does not guarantee an optimal solution. To come around this problem, we used a hyperband algorithm for the selection of optimal parameters. It is an iterative method, which searches for the optimal configuration by discarding the least performing configurations on each iteration. The proposed HP-GRU model is used on a dataset of SCITOS G5 robots with 24 sensors mounted. The results show that HP-GRU has a mean accuracy of 0.9857 and a mean loss of 0.0810, and it is comparable with other deep learning algorithms.
Synchronization and Chaos Control Using a Single Controller of Five Dimensional Autonomous Homopolar Disc Dynamo Makouo, Lucienne; Stephane Kemnang Tsafack, Alex; Motchongom Tingue, Marceline; Rodrigue Tchamda, André; Takougang Kingni, Sifeu
International Journal of Robotics and Control Systems Vol 1, No 3 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i3.380

Abstract

The electronic implementation, synchronization, and control of hyperchaos in a five-dimensional (5D) autonomous homopolar disc dynamo are investigated in this paper. The hyperchaotic behavior is found numerically using phase portraits and time series in 5D autonomous homopolar disc dynamo is ascertained on Orcad-PSpice software. The synchronization of the unidirectional coupled 5D hyperchaotic system is also studied by using the feedback control method. Finally, hyperchaos found in 5D autonomous homopolar disc dynamo is suppressed thanks to the designed single feedback. Numerical simulations and electronic implementation reveal the effectiveness of the single proposed control.
Trend Analysis of Modal Identification based Real-time Power System Oscillations using L1 Trend Filtering Oscullo, José; Cepeda, Jaime; Gallardo, Carlos; Haro, Lenin
International Journal of Robotics and Control Systems Vol 1, No 2 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i2.311

Abstract

This paper is looking to show to use of system data collected from wide-area monitoring systems (WAMS). They allow monitoring of the dynamics of power systems. Among the WAMS applications, there is the modal identification algorithm, which identifies critical oscillatory modes from PMU measurements. This application permits using data processors for estimating of frequency, damping, and amplitude of dominant mode oscillations observable in a specific electric signal (e.g., active power, frequency) recorded for the analyzed period. However, since modal identification of real-time measurements is based on an online optimization, the results usually have considerable fluctuations. Thus, it is essential to consider the complementary implementation of trend analysis for acquiring convenient early-warning indicators of oscillatory problems. This consideration allows avoiding erroneous information of the systems oscillatory behavior of the system real-time that modal identification of crude results could deliver. In this paper, the application of a l1 filter for determining the trend analysis of high-dimensional data set resulted from a commercial modal identification is explored. The algorithm is applied to an oscillatory event registered by the WAMS of the Ecuadorian National Interconnected System with promising results.
Implementation of DC Motor PID Control On Conveyor for Separating Potato Seeds by Weight Sonny Febriyan, Daniya; Dwi Puriyanto, Riky
International Journal of Robotics and Control Systems Vol 1, No 1 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i1.221

Abstract

Dieng area is a mountainous area, dieng has land with high fertility levels so that they are increasingly high in the agricultural sector, especially potatoes. During the time, the technology for sorting potato seeds was still manual with humans, so it was less effective. The conveyor here is very useful as this device which will later work with loadcell as a weigher, and this device will be driven using a dc motor then the speed stabilization uses the PID algorithm with trial and error methods and this tool is supported using ultrasonic sensors and two servo sorting. This device works with 1 cycle, namely with 1 command with a value of KP 55, KI 20 and KD 0.001. The conveyor movement is quite stable with an average error value of 0.276 load cell with a standard deviation of 0.211877 with an achievement level of 80%.
Single Axis Solar Tracker for Maximizing Power Production and Sunlight Overlapping Removal on the Sensors of Tracker Nahar, Mst Jesmin; Sarkar, Md Rasel; Uddin, Moslem; Hossain, Md Faruk; Rana, Md Masud; Tanshen, Md. Riyad
International Journal of Robotics and Control Systems Vol 1, No 2 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i2.333

Abstract

This paper presents the design and execution of a solar tracker system devoted to photovoltaic (PV) conversion panels. The proposed single-axis solar tracker is shifted automatically based on the sunlight detector or tracking sensor. This system also removes incident sunlight overlapping from sensors that are inside the sunlight tracking system. The Light Dependent Resistor (LDR) is used as a sensor to sense the intensity of light accurately. The sensors are placed at a certain distance from each other in the tracker system to avoid sunlight overlapping for maximum power production. The total system is designed by using a microcontroller (PIC16F877A) as a brain to control the whole system. The solar panel converts sunlight into electricity. The PV panel is fixed with a vertical axis of the tracker. This microcontroller will compare the data and rotate a solar panel via a stepper motor in the right direction to collect maximum photon energy from sunlight. From the experimental results, it can be determined that the automatic (PV solar tracker) sun tracking system is 72.45% more efficient than fixed panels, where the output power of the fixed panel and automatically adjusted panel are 8.289 watts and 14.287 watts, respectively.
Analysis of Hybrid Technique for Motion Planning of Humanoid NAO Kashyap, Abhishek Kumar; R. Parhi, Dayal; Pandey, Anish
International Journal of Robotics and Control Systems Vol 1, No 1 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i1.285

Abstract

The navigation of a humanoid robot is essential because it is the basic requirement of any assigned task. Singly used motion planning techniques may take a long path to reach the target and increase the computational cost. Therefore, in this article, a hybrid controller is employed in the humanoid NAO for motion planning assignment. The Eagle strategy (ES) with Ant colony optimization (ACO) is introduced in this article for evaluating precise steering angles for humanoid robots as they traverse a route from a reference point to a target point. This enables the robot to achieve its specific target more quickly by avoiding barriers and obtaining the minimal global direction. The hybridized ES-ACO approach is critical in determining precise steering angles to escape obstacles.  The details of terrain are obtained using vision and ultrasonic sensors, which also include the barriers ranges to the ES as an input variable. The ES's input parameters are the barrier ranges from the NAO in front, left, and right directions, and the technique's output variable is the precise steering angle. The designed controller is tested in both a simulation and an experimental setting with a variety of obstacles. The outcomes of both simulation and experimental conditions are compared, and a strong correlation is identified in those with the fewest deviations.
PID-Type Iterative Learning Control for Output Tracking Gearing Transmission Systems Thuy Anh, Luong; Thi Thanh Nga, Tran; Van Hoc, Vu
International Journal of Robotics and Control Systems Vol 1, No 3 (2021)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v1i3.395

Abstract

This paper proposes a modified version of the Proportional Integral Derivative (PID)-type iterative learning algorithm. It is effortless to implement on a digital control device for tracking control a continuous-time system. Matlab software is used to model and simulate control algorithms. The simulative application of it to control a gearing transmission system, such that its output response follows the desired trajectory, is then computationally. Obtained studying results prove that this proposed iterative learning algorithm has provided a good output tracking behavior as expected and robust in reducing external disturbance effects.

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