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Autonomous Quadcopter Trajectory Tracking and Stabilization Using Control System Based on Sliding Mode Control and Kalman Filter 24

Autonomous Quadcopter Trajectory Tracking and Stabilization ...

引用

24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023

作者： Agustina, Nilla Perdana Darwito, Purwadi Agus Physics Engineering Master Program Faculty of Industrial Technology and System Engineering Surabaya Indonesia Physics Engineering Department Faculty of Industrial Technology and System Engineering Surabaya Indonesia

ISBN: (纸本)9798350313956

In this paper, a control system based on Sliding Mode Control (SMC) and Kalman Filter has been designed to stabilize the quadcopter in the takeoff and hover phases as well as at the expected altitude. The control system is needed to support the performance of the quadcopter in carrying out the mission that has been given. The designed control system begins with the creation of a system model equation and is implemented in a real quadcopter simulation. The resulting response in terms of the results of the resulting control signal is stable, meets the trajectory as expected, and can produce a real quadcopter simulation taking off vertically and flying stably. Even though there was an unstable response for about 15 to 20 seconds at the beginning of the resulting response, after that the system showed stability. Tracking the resulting trajectory in accordance with the desired trajectory. Real quadcopter simulation results show that the takeoff phase can be carried out vertically and that the resulting trajectory stability can be stable during takeoff and flight. The height of the quadcopter has reached 100%, namely with a height of 1.5 meters as expected, and the average error value obtained at the x position is 2.93e^-07, the y position is 2.96e^-07, and the z position is 1.80e^-03. The proposed SMC-Kalman filter control system is expected to be implemented in a conventional quadcopter that has been developed. © 2023 IEEE.

关键词： Sliding mode control

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Entropy-Based Analysis of Electromyography Signal Complexity During Flexion of the Flexor Carpi Radialis Muscle Under Varied Load Conditions 4th

Entropy-Based Analysis of Electromyography Signal Complexity...

引用

4th International Conference on Electronics, Biomedical engineering, and Health Informatics, ICEBEHI 2023

作者： Katherine Putra, Alfian Pramudita Kurniawan, Angeline Shane Istiqomah, Dezy Zahrotul Sholihah, Nisa’ul Al-Salehi, Khalid Ali Salem Ain, Khusnul Sapuan, Imam Andarini, Esti Biomedical Engineering Master Program Department of Physics Faculty of Science and Technology Universitas Airlangga Surabaya60115 Indonesia Biomedical Engineering Study program Department of Physics Faculty of Science and Technology Universitas Airlangga Surabaya Indonesia Department of Physics Faculty of Science and Technology Universitas Airlangga Surabaya Indonesia School of Nursing Southern Medical University Guangdong Guangzhou510515 China

ISBN: (纸本)9789819714629

The motor impairments that stroke patients experience as a primary contributor to death and disability also impact their quality of life. Due to its characteristics as complex muscle signals, the Electromyograph (EMG) signal may be one of the markers in rehabilitation and a substitute that may be used to judge the success of rehabilitation. This study aims to analyze the complexity of EMG signals originating from the flexion of the flexor carpi radialis muscle with various weights indicating the rehabilitation state. It is important to monitor the progress of rehabilitation, and it can be done by using complexity analysis. The complexity of the EMG is examined in this work utilizing entropy measurement, namely Approximate Entropy (ApEn), Sample Entropy (SampEn), and Fuzzy Approximate Entropy (fApEn). We concentrated on the flexor carpi radialis muscle using flexion–extension exercises and varying the weight load. This study’s results indicate differences in the complexity of the EMG signal in the flexor carpi radialis when performing flexion–extension movements. Three differences showed a correlation based on the value of ApEN, SampEn, and fApEn. Complexity Analysis using fApEn showed the best correlation at R = 0.9966, which can be used to evaluate the rehabilitation process. The increase in weight was followed by the increase of the fApEn value, indicating that the value can be used to evaluate the rehabilitation process. The use of complexity analysis of EMG signal from flexion movement in flexor carpi radialis with various weights can be used to indicate the progress in the rehabilitation process. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Entropy

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Parallel Control System PD-SMCNN for Robust Autonomous Mini-Quadcopter 23

Parallel Control System PD-SMCNN for Robust Autonomous Mini-...

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23rd International Seminar on Intelligent Technology and Its Applications, ISITIA 2022

作者： Wahyuadnyana, Kadek Dwi Darwito, Purwadi Agus Physics Engineering Master Program Faculty of Industrial Technology and Systems Engineering Surabaya Indonesia Faculty of Industrial Technology and Systems Engineering Physics Engineering Department Surabaya Indonesia

ISBN: (数字)9781665460811

ISBN: (纸本)9781665460811

A parallel control system with proportional-derivative (PD) and sliding mode control-neural network (SMCNN) has been designed to control the position and attitude of mini-quadcopter parrot mambo mini-drone (PMD). This PDSMCNN control scheme is implemented in the PMD system through a 3D environment using MATLAB-Simulink, which represented the real conditions. The PD controller is used to reach the minimum value of the gain for the PMD getting to take-off, while the SMC as a robust controller is adjusted using a backpropagation neural network (NN) to make the PMD more robust regarding an external disturbance. The software and hardware simulation have been conducted to validate the proposed controller with a mission plan as an input. Based on the simulation results, the PD controller shows an overshoot of 26.7% then becomes 0% of overshoot when the PD-SMCNN controller is implemented. From the hardware simulation results, it is found that the PD controller has 45.1% of robustness and the PD-SMCNN controller has 100% of robustness in the absence of external disturbance. Next, it is found that the PD controller has 26.9% of robustness and the PD-SMCNN has 74.8% of robustness in the presence of external disturbance. Based on these results, indicates that the proposed PD-SMCNN controller is superior to the PD controller in terms of robustness. © 2022 IEEE.

关键词： Neural networks

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Design of Image-Based Autonomous Landing Instrumentation and Control System for Unmanned Quadrotor Vehicles 10

Design of Image-Based Autonomous Landing Instrumentation and...

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10th IEEE Information Technology International Seminar, ITIS 2024

作者： Fauzan, Ihsan M. Mukhlish, Faqihza Prayoga, Aditya Ahmad, Robby Azhari Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia PT. Sas Aero Sishan Engineering Department Indonesia

ISBN: (纸本)9798331521295

The study designs an instrumentation and control system for autonomous quadrotor landing using a visual marker as the landing target. For landing process, the marker used as a landing target is an embedded ArUco marker, capable for detection for both long range and close-range detection. Position of the quadrotor relative from the ArUco marker is estimated using Perspective-N-Point pose estimation. The estimation errors compared to actual measurements are under 20 cm, which is less than the distance between ArUco border and its center. To keep camera for facing downward during the flight, the 2 axis inertially stabilization platform (ISP). The designed ISP can maintain the camera orientation even when quadrotor angle has changed. The landing control system is made for two different scenarios. First scenario is for landing with Global Positioning System (GPS) support, and the second scenario is without GPS support. The landing control system in GPS support scenario uses velocity setpoint to control the quadrotor while in without GPS support scenario, control system uses angle-thrust setpoint to control quadrotor. Quadrotor landing control system can attempt landing on top of the ArUco marker in both scenarios. The trajectory Mean Average Error (MAE) of x and y coordinates and radius of the landing process is (0.108, 0.326, 0.359) m for GPS support scenario and (0.301, 0.251, 0.436) m for without GPS support scenario. © 2024 IEEE.

关键词： Global positioning system

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Automation System Architecture of pH Neutralization Process in Batik Wastewater Treatment Plant 4

Automation System Architecture of pH Neutralization Process ...

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4th engineering physics International Conference 2023, EPIC 2023

作者： Diyah, Nazuwatussya Ekawati, E. Pradipta, J. Yulia, E. Master Program of Instrumentation and Control Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Doctoral Program of Engineering Physics Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Indonesia

Batik production in home industries needs support wastewater treatment in a limited space. Therefore, a modular-type, lab-scale wastewater treatment plant (WWTP) with a capacity of 87.75 liters and a dimension of 1.5 m × 0.75 m × 1 m has been constructed. The WWTP combines three significant processes: equalization, neutralization, and adsorption. This study focuses on the monitoring systems for the pH neutralization process. The system uses four microprocessors in a master/Slave architecture and the I2C protocols for data communication between processors. The measuring instruments include pH, temperature, turbidity, and flow rate sensors. The actuators consist of submersible and peristaltic pumps. The operating range of pH, temperature, turbidity, and flow rate sensors are 0-14, 25-81.44℃, 0-3000 NTU, and 6.49-20.84 ml/s respectively. The pumps work in Pulse Width Modulation (PWM) mode with an operating range of 125-225 PWM. All sensors and actuators operate linearly within the operating range with a correlation coefficient of 0.97-1. © 2023 Institute of physics Publishing. All rights reserved.

关键词： Turbidity

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Neutronic and Proliferation Resistance Analysis of Small Modular Pressurized Water Reactor with Various Fuel Types using SRAC 2006 10

Neutronic and Proliferation Resistance Analysis of Small Mod...

引用

10th Asian physics Symposium 2023, APS 2023

作者： Amatullah, Amila Permana, Sidik Pramuditya, Syeilendra Master Program in Nuclear Science and Engineering Faculty of Mathematics and Natural Sciences Bandung Institute of Technology Ganesha No. 10 Bandung Indonesia Graduate Program in Nuclear Science and Engineering Faculty of Mathematics and Natural Sciences Bandung Institute of Technology Ganesha No. 10 Bandung Indonesia Graduate Program in Physics Faculty of Mathematics and Natural Sciences Bandung Institute of Technology Ganesha No. 10 Bandung Indonesia

One strategy for emission reduction in Indonesia is the dedieselization program, replacing diesel power plants with renewables. Pressurized Water Reactor (PWR) type Small Modular Reactor (SMR) is also a consideration. This study aims to compare fuel performance in SMRs. Four fuel types with varying fissile and fertile nuclides but equal fissile mass percentages were assessed: U235- U238, U235-Th232, U233-U238, and U233-Th232, using PIJ SRAC 2006 and JENDL 4.0. Parameters include neutron multiplication factor, conversion ratio, and isotope production. Results indicated that U233-U238 has a highest initial neutron multiplication factor, 1.55. Substituting uranium-238 with thorium-232 boosts neutron flux and conversion, reducing nuclear proliferation risk. While initial neutron multiplication may not be highest, thorium-232 can produce uranium-233 with high initial neutron multiplication factor. This research aids fuel selection for Indonesia SMR dedieselization program. © Published under licence by IOP Publishing Ltd.

关键词： Thorium

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Single Bean Region of Interest Auto-Detection in a Coffee Beans Image Towards Thorough Quality Inspection 8

Single Bean Region of Interest Auto-Detection in a Coffee Be...

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8th International Conference on Instrumentation, Control, and Automation, ICA 2023

作者： Utomo, Gema Nuran Rakhmawati, Amalia Nadhira, Vebi Juliastuti, Endang Suprijanto, Suprijanto Institut Teknologi Bandung Master's Program in Instrumentation and Control Bandung40132 Indonesia Institut Teknologi Bandung Doctoral Program in Engineering Physics Bandung40132 Indonesia Institut Teknologi Bandung Instrumentation and Control Reaserch Group Bandung40132 Indonesia

ISBN: (纸本)9798350301274

Indonesia was declared the world's fourth-largest coffee bean producer in 2020 and yields consistently increase each year. Indonesia also has the Indonesian National Standard (SNI) 01-2907-2008, which specifies various defects with the defect scores of coffee beans that determine their quality. Common coffee bean defects listed in SNI 01-2907-2008 include black beans, broken black beans, partly black beans, and brown coffee beans. These defects degrade the quality and affect the market value. Previous studies have proposed computer vision systems as a non-invasive testing method for grading coffee beans based on trained images. However, obtaining the detail in a single bean image based on the region of interest could have been more comprehensively explained in those studies, making them less informative and requiring a more detailed conceptual breakdown. This study describes several coffee beans captured as images using a digital camera with a specific field of view, F/25 f-number, 1/60s exposure time, ISO400, and a lighting system reaching 12,000 lux. These images are processed based on the region of interest and centroid, resulting in single bean images with a resolution of 220 x 220 pixels ready for training. The samples used in this study are Robusta Lampung coffee beans, which are commonly found in Indonesia and exhibit various types of defects based on the criteria in SNI 01-2907-2008, such as black beans, broken black beans, partly black beans, and brown coffee beans. © 2023 IEEE.

关键词： Defects

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Adversarially Robust Reinforcement Learning for Urban Traffic Signal Control 5

Adversarially Robust Reinforcement Learning for Urban Traffi...

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5th IEEE International Conference on Technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Hamzah, Muhammad Shafly Joelianto, Endra Sutarto, Herman Yoseph Putri, Adiyana Institut Teknologi Bandung Instrumentation and Control Master Program Bandung Indonesia Institut Teknologi Bandung Instrumentation Control and Automation Research Group Bandung Indonesia PT. Pusat Riset Energi Department of Intelligent System Bandung Indonesia Institut Teknologi Bandung Doctoral Program of Engineering Physics Bandung Indonesia

ISBN: (纸本)9798350364743

Urban traffic congestion presents critical challenges, resulting in delays, environmental pollution, and significant economic costs. While traditional traffic control methods, such as fixed-time and adaptive systems, have been widely implemented, they often fail in unpredictable conditions, particularly when confronted with noisy or inaccurate data. This research proposes a robust reinforcement learning (RL) solution for traffic signal control using the RADIAL-DQN (Robust Adversarial Loss DQN) algorithm. Integrating adversarial training enhances the system's robustness to real-world uncertainties. Evaluations conducted using a SUMO traffic simulation show that the robust agent produced an increase of only 60.71% in queue length under a projected gradient descent (PGD) adversarial attack, outperforming standard RL agents, which experienced an 89% increase. These results demonstrate the potential of robust RL to improve both the reliability and scalability of urban traffic control systems. © 2024 IEEE.

关键词： Traffic signals

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Enhanced Feature Matching in Image Stitching Using ORB for Image-Based Mapping Using UAV 1

Enhanced Feature Matching in Image Stitching Using ORB for I...

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1st engineering and Science International Conference 2024, ESIC 2024

作者： Anoraga, Muhammad Imron Catur Ekawati, Estiyanti Mukhlish, Faqihza Instrumentation and Control Master Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Bandung Indonesia

Image-based region mapping requires an image-stitching process to produce a complete map while preserving the details of the mapped objects. Image acquisition can be done using UAVs such as drones, and image stitching can be performed using the Oriented FAST and Rotated BRIEF (ORB) techniques. However, this algorithm has a drawback: There are many mismatches during feature matching. In this study, a maximum pixel displacement constraint between images was applied during the feature-matching process. Applying this constraint improved the feature-matching results due to a significant reduction of the mismatch rate from 84.28% to 25.17%. This reduction positively impacted subsequent stages, including map stitching. The mismatch removal process and the acquisition of transformation models during image registration became faster, reducing the processing time from 17m 36.8s to 1m 17.2s. Additionally, there was an improvement in the SSIM metric score, indicating that the stitched image results had a higher similarity to the reference image captured by a digital camera, increasing from 0.8423 to 0.8489. © 2025 Institute of physics Publishing. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Type-2 Fuzzy Sliding Mode Control Design for Self-Balancing Mobile Robot 6

Type-2 Fuzzy Sliding Mode Control Design for Self-Balancing ...

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6th International Conference on Information and Communications Technology, ICOIACT 2023

作者： Hartono Leksono, Edi Joelianto, Endra Instrumentation and Control Master Program Institut Teknologi Bandung Bandung Indonesia Engineering Physics Research Group Institut Teknologi Bandung Bandung Indonesia Instrumentation and Control Research Group Institut Teknologi Bandung Bandung Indonesia

ISBN: (纸本)9798350315639

Mobile robots have been a popular research topic in recent decades due to their many potential applications. One of the common types of mobile robots is the two-wheeled self-balancing robot, which operates based on the basic concept of an inverted pendulum. This concept represents an unstable system, so a proper controller is required to stabilize the system. This paper proposes a controller that combines a type2 fuzzy logic system and sliding mode control to stabilize and maintain the robot's body balance in a straight upright position. Sliding mode control is a well-known robust controller with the ability to handle system disturbances. However, the presence of a switching law in sliding mode control can lead to the occurrence of chattering phenomena. Hence, a type-2 fuzzy logic system is applied to reduce the chattering effect by adjusting the switching gain of the sliding mode control. Additionally, the system's stability is analyzed using the Lyapunov theorem. The simulation results demonstrate that the designed type-2 fuzzy sliding mode control not only reduces chattering but also decreases energy consumption by approximately 59.92% and reduces the undershoot of the pitching rate by about 33.5%, with only a 0.115-second longer settling time for pitching angle compared to conventional sliding mode control. © 2023 IEEE.

关键词： Mobile robots

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