Erwin Susanto

Proportional derivative control based robot arm system using Microsoft Kinect

Today, the development of manipulator robot technology is growing fast and giving good impact for human life. Application of the manipulator robot technology can help many humans tasks effectively. However, most publications in this field of interest are based on complex computation, by using mathematical model from the actual robot. This paper proposes a control system for manipulator robot using Microsoft Kinect based on proportional-derivative control algorithm (PD-control). The function of Microsoft Kinect is as a sensor that detects position of Kinect user joints. The data from Microsoft Kinect will be processed by using inverse kinematics for mapping the position of user joints to the manipulator robot. After that, position controlling for manipulator robot will be processed based on PD-control algorithm in order to obtain the position of the manipulator robot in accordance with the movement of the user. The experiments have already been successfully implemented for movement of manipulator robot with some movement patterns directed by user.

An LMI approach to guaranteed cost filter for uncertain neutral systems with time-varying delay

This paper deals with the problem of robust guaranteed cost filter design for uncertain neutral systems with time-varying delay. The uncertainties are assumed to be norm bounded. We propose a sufficient condition for robust stability analysis and robust stabilization on the filter design, and the methods are derived in linier matrix inequalities (LMIs). The obtained result covers slow and fast time-varying delay cases by using Leibniz-Newton formula and some free-weighting matrices. A numerical example is given to illustrate the advantage of the proposed method.

Design and implementation of water level control using gain scheduling PID back calculation integrator Anti Windup

Conventional PID controller is a simplest known controller and has been used in almost all process industries for controlling process parameter at desired set point. However, the weakness of the controller is largely depend on the parameter of the controlled object. As the dynamics process of a water tank is nonlinear, it also has nonlinear behaviour between the input and output. This paper demonstrates that Gain Scheduling PID with Back Calculation Integrator Antiwindup enables to enhance the response of automatic water level control system performance. A mathematical model of a first order tank system is considered and simulated to determine fine tunes and schedules for the controller parameter based on trial and error experiment so as to adapt with all operating points. The system performance comparison of various setpoint given to the system is performed to prove that the Gain Scheduling PID with Back Calculation Integrator Antiwindup outpaces conventional PID controller.

Guaranteed cost filter design for discrete time neutral systems

This paper presents the guaranteed cost filter of uncertain linear neutral systems. By discretizing the system, the work is an extension of the previous study on continuous case. We propose the robust Alter design via linear matrix inequalities (LMIs). Because the obtained inequalities have inverse relations, an LMI based iterative algorithm is used. A numerical example is given to illustrate the advantage of the proposed method.

A full order observer-based guaranteed cost controller for uncertain linear systems

In this paper, a design scheme of a full order observer-based guaranteed cost controller for uncertain linear systems, in which all state variables cannot be known, is presented. The perturbations in system states and input are assumed to be described by structural uncertainties. An iterative linear matrix inequality (ILMI) approach is used to design the observer-based controller since the problems contain inverse relations. A numerical example is given to illustrate the proposed method.

PID control for attitude stabilization of an unmanned aerial vehicle quad-copter

Quad-copter is a type of Unmanned Aerial Vehicle (UAV) which has four rotors as its lifter. This type can do lot movements in the air while flying, such as yaw, roll, and pitch. This movement can work well by maintaining stability, direction, and the height of that quad-copter. Roll corner, pitch, and yaw are controlled so the quad-copter can move stably. Proportional Integral Derivative (PID) is one of the controlling methods which can use to stabilize the quad-copter movements. The parameters used in this modeling were mass, arm length, radius, motor torsi, and motor speed. Some assumptions applied in modeling were the structure of quad-copter is rigid, symmetric, and the load heavy point of quad-copter is assumed located right in the middle (mass center), and vibration effect in each propeller is ignored. The design is stable with proportional gain of roll and pitches are 1.3 and 1.5, integral gains are 0.04 and 0.05, and derivative gains are 18 and 15.

Reaction Wheel Control Design Using Linear Quadratic Controller

This paper studies the design of active attitude control system of a nanosatellite in a single axis. In this paper, we consider dc motor based reaction wheel as an actuator, because of its pointing accuracy. However, the power consumption of the dc motor is often relatively large and needed to be optimized. Linear quadratic controller is supposed to have an ability to minimize power consumption and able to enhance the system performance. To show the advantage of this method, simulation result of attitude response, state trajectory, and trajectory of DC motor voltage are presented.

Maximum allowable time delay on networked control system using guaranteed cost method

In this paper, a robust filter is designed using guaranteed cost method to deal with the problem on networked control system (NCS). NCSs are modeled by neutral-type systems with differentiable time-delay uncertainties. The control and gain filter are derived from LMI feasible solution. A numerical example is provided for illustration of the proposed condition.

Quality of service improvement with 802.11e EDCA scheme using enhanced adaptive contention window algorithm

Data services users are growing exponentially and the content accessed by the users are real time and multimedia communications. The most connection commonly used is wireless LAN IEEE 802.11. Quality of Service (QoS) is a mandatory requirement in Wifi to support network limited capacity. IEEE 802.11e introduce a new standard of QoS which is called Enhanced Distributed Channel Access (EDCA). This standard has given a new method for QoS support compared with previous method called Distributed Coordination Function (DCF). EDCA scheme provide four type of traffic (background task, best effort, video and voice) which is called Access Category (AC) to define the priority. There are three main parameters in EDCA to improve Quality of Service i.e TXOP (Transmission Opportunity), AIFS (Arbitrary Inter Frame Space) and CW (Contention Windows). Based on the main reference for throughput and delay improvement, this research will focus on contention window adjustment. Adjustment depends on number of stations involved and collision probability in the network. The more number of stations or the lower contention window value will result higher collision probability. To validate the result of contention window adjustment, NS-2 is applied to perform some simulations. Simulation is done during low traffic (non-saturated) and high traffic (saturated) network. The proposed algorithm leads the throughput improvement by 2.29% and delay improvement by 3.32% in average for all traffic category.

The implementation of PID using particle swarm optimization algorithm on Networked Control System

In this paper, we propose the implementation of PID on Networked Control System (NCS) using Particle Swarm Optimization (PSO) algorithm as tuning method. There are three modification of PSO that used in this paper. The first is Constant Inertia Weight of PSO (CIW-PSO), the second is Linear Difference Weight of PSO (LDW-PSO), and the latest is Random Inertia Weight of PSO (RIWPSO). In the end, we present discuss the effect of delay on the performance of Networked Control System.