Mohd Riduwan Ghazali

H ∞ controller with graphical LMI region profile for gantry crane system

This paper presents investigations into the development of H∞ controller with pole clustering based on LMI techniques to control the payload positioning of INTECO 3D crane system with very minimal swing. The linear model of INTECO 3D crane system is obtained using the system identification process. Using LMI approach, the regional pole placement known as LMI region combined with design objective in H∞ controller guarantee a fast input tracking capability, precise payload positioning and very minimal sway motion. A graphical profile of the transient response of crane system with respect to pole placement is very useful in giving more flexibility to the researcher in choosing a specific LMI region. The results of the response with the controllers are presented in time domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specification. Finally, the control techniques is discussed and presented.

Performance evaluation of vector evaluated gravitational search algorithm II

This paper presents a performance evaluation of a novel Vector Evaluated Gravitational Search Algorithm II (VEGSAII) for multi-objective optimization problems. The VEGSAII algorithm uses a number of populations of particles. In particular, a population of particles corresponds to one objective function to be minimized or maximized. Simultaneous minimization or maximization of every objective function is realized by exchanging a variable between populations. The results shows that the VEGSA is outperformed by other multi-objective optimization algorithms and further enhancements are needed before it can be employed in any application.

Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot

The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Sliding Mode Controller (SMC) and Proportional-Integral-Derivative (PID) controller for a highly nonlinear 2-wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in state-space form and the system suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the SMC and PID controllers are examined in terms of input tracking and disturbances rejection capability. Simulation results of the responses of the nonlinear 2-wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is analyzed and discussed.

Development of straight line robot movement using Digital Compas Module

This project focuses on the development of straight line movement for a four-wheeled mobile robot. In this project, a DC gear motor is chosen as motion control for two driving wheels and the direction of robot will be controlled by servo motor to two steering wheels. PIC is selected as the brain board controller due to react and respond to the data received from Digital Compass Module to identify and figure out desired position. The implementation of internal PID algorithm is essentially used to restore the system to desired set-point position. Application of Digital Compass Module with the aid of PID control algorithm may command to drive the servo motor to go towards in straight line platform in accordance to the desired set-point direction has been fixed. The robotic hardware has been developed and analyzed successfully. As a result, in despite of unexpected external force varying the desired direction of robot, the robot would still be able to veer back to the original set-point direction to achieve a smooth and stabilized straight line movement.