Pub Date : 2020-12-22DOI: 10.14203/J.MEV.2020.V11.64-74
Mikecon Cenit, Vaibhav Gandhi
This paper reviews the different exoskeleton designs and presents a working prototype of a surface electromyography (EMG) controlled exoskeleton to enhance the strength of the lower leg. The Computer Aided Design (CAD) model of the exoskeleton is designed, 3D printed with respect to the golden ratio of human anthropometry, and tested structurally. The exoskeleton control system is designed on the LabVIEW National Instrument platform and embedded in myRIO. Surface EMG sensors (sEMG) and flex sensors are used coherently to create different state filters for the EMG, human body posture and control for the mechanical exoskeleton actuation. The myRIO is used to process sEMG signals and send control signals to the exoskeleton. Thus, the complete exoskeleton system consists of sEMG as primary sensor and flex sensor as a secondary sensor while the whole control system is designed in LabVIEW. FEA simulation and tests show that the exoskeleton is suitable for an average human weight of 62 kg plus excess force with different reactive spring forces. However, due to the mechanical properties of the exoskeleton actuator, it will require an additional lift to provide the rapid reactive impulse force needed to increase biomechanical movement such as squatting up. Finally, with the increasing availability of such assistive devices on the market, the important aspect of ethical, social and legal issues have also emerged and discussed in this paper.
{"title":"Design and development of the sEMG-based exoskeleton strength enhancer for the legs","authors":"Mikecon Cenit, Vaibhav Gandhi","doi":"10.14203/J.MEV.2020.V11.64-74","DOIUrl":"https://doi.org/10.14203/J.MEV.2020.V11.64-74","url":null,"abstract":"This paper reviews the different exoskeleton designs and presents a working prototype of a surface electromyography (EMG) controlled exoskeleton to enhance the strength of the lower leg. The Computer Aided Design (CAD) model of the exoskeleton is designed, 3D printed with respect to the golden ratio of human anthropometry, and tested structurally. The exoskeleton control system is designed on the LabVIEW National Instrument platform and embedded in myRIO. Surface EMG sensors (sEMG) and flex sensors are used coherently to create different state filters for the EMG, human body posture and control for the mechanical exoskeleton actuation. The myRIO is used to process sEMG signals and send control signals to the exoskeleton. Thus, the complete exoskeleton system consists of sEMG as primary sensor and flex sensor as a secondary sensor while the whole control system is designed in LabVIEW. FEA simulation and tests show that the exoskeleton is suitable for an average human weight of 62 kg plus excess force with different reactive spring forces. However, due to the mechanical properties of the exoskeleton actuator, it will require an additional lift to provide the rapid reactive impulse force needed to increase biomechanical movement such as squatting up. Finally, with the increasing availability of such assistive devices on the market, the important aspect of ethical, social and legal issues have also emerged and discussed in this paper.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46415559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-22DOI: 10.14203/j.mev.2020.v11.86-94
M. N. Setiawan, E. R. Suryana, Leo Parytta, William Andaro
The longitudinal altitude holding control system (LAHCS) of wing in surface effect (WiSE) vehicle has been developed using Simulink/Matlab. The LAHCS is designed to maintain the altitude of the vehicle stands at 1 m above the surface, with a maximum allowable deviation of 0.5 m. The purpose is to gain an additional lift generated by the surface effect to increase the aerodynamic performance. This control system is investigated using two approaches, i.e., the pole placement and the linear quadratic regulator (LQR) methods. Originally, the system shows an unstable response on the phugoid mode, indicated by the positive value of its Eigen. After the pole placement method is applied, the system is stable and capable of maintaining the reference command altitude. This method produces 0.27 of the maximum altitude deviation when the disturbance, represented by the doublet input elevator ±5° is applied. Moreover, the time needed for the system to reach the steady-state response of altitude is around 2.2 seconds. In comparison, the LQR method is also applied to the system with the same scenario. Although the settling time response is quite similar to the previous result, its maximum altitude deviation is significantly reduced by around 80 %. In conclusion, both of the methods used to design the LAHCS are capable of maintaining the altitude of the WiSE vehicle always below its maximum deviation tolerance.
{"title":"Pole placement and LQR implementation on longitudinal altitute holding control of wing in surface effect vehicle","authors":"M. N. Setiawan, E. R. Suryana, Leo Parytta, William Andaro","doi":"10.14203/j.mev.2020.v11.86-94","DOIUrl":"https://doi.org/10.14203/j.mev.2020.v11.86-94","url":null,"abstract":"The longitudinal altitude holding control system (LAHCS) of wing in surface effect (WiSE) vehicle has been developed using Simulink/Matlab. The LAHCS is designed to maintain the altitude of the vehicle stands at 1 m above the surface, with a maximum allowable deviation of 0.5 m. The purpose is to gain an additional lift generated by the surface effect to increase the aerodynamic performance. This control system is investigated using two approaches, i.e., the pole placement and the linear quadratic regulator (LQR) methods. Originally, the system shows an unstable response on the phugoid mode, indicated by the positive value of its Eigen. After the pole placement method is applied, the system is stable and capable of maintaining the reference command altitude. This method produces 0.27 of the maximum altitude deviation when the disturbance, represented by the doublet input elevator ±5° is applied. Moreover, the time needed for the system to reach the steady-state response of altitude is around 2.2 seconds. In comparison, the LQR method is also applied to the system with the same scenario. Although the settling time response is quite similar to the previous result, its maximum altitude deviation is significantly reduced by around 80 %. In conclusion, both of the methods used to design the LAHCS are capable of maintaining the altitude of the WiSE vehicle always below its maximum deviation tolerance.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45769941","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-22DOI: 10.14203/j.mev.2020.v11.75-85
Yukhi Mustaqim Kusuma Sya'Bana, Gun Bae Park
This paper attempts to grant Indonesian identity in the development and importing the public transportation equipment from overseas. We reviewed and surveyed the present state issues of Indonesian public transportation equipment design development. The study analyzed the philosophical values of batik in a modern way, the possibility of batik application for important regionalism identity, and identity in design development strategy. As a result, we gather and assess the philosophical values of Batik motifs that contain geographic origin, the essences, and characteristics to be applied as design element strategies. We found the regional identity of the historical, local wisdom essence, acculturation, various colors, and original shapes of the Batik motifs. Moreover, Indonesian fancy design is also supported by other possibilities indigenous material and technique that usually used, particularly in Indonesia. These possibilities were identically Indonesian and also applicable as the sustainable public transport equipment design identity issue solution. This effort was conducted as the turning point to solve the issues of public transport equipment design strategies dependency. Thus, this research will be helpful for aesthetics research in the modern way of the public transportation equipment design concept.
{"title":"A study on the applicability of batik for public transportation design in Indonesia","authors":"Yukhi Mustaqim Kusuma Sya'Bana, Gun Bae Park","doi":"10.14203/j.mev.2020.v11.75-85","DOIUrl":"https://doi.org/10.14203/j.mev.2020.v11.75-85","url":null,"abstract":"This paper attempts to grant Indonesian identity in the development and importing the public transportation equipment from overseas. We reviewed and surveyed the present state issues of Indonesian public transportation equipment design development. The study analyzed the philosophical values of batik in a modern way, the possibility of batik application for important regionalism identity, and identity in design development strategy. As a result, we gather and assess the philosophical values of Batik motifs that contain geographic origin, the essences, and characteristics to be applied as design element strategies. We found the regional identity of the historical, local wisdom essence, acculturation, various colors, and original shapes of the Batik motifs. Moreover, Indonesian fancy design is also supported by other possibilities indigenous material and technique that usually used, particularly in Indonesia. These possibilities were identically Indonesian and also applicable as the sustainable public transport equipment design identity issue solution. This effort was conducted as the turning point to solve the issues of public transport equipment design strategies dependency. Thus, this research will be helpful for aesthetics research in the modern way of the public transportation equipment design concept.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46299726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-12-22DOI: 10.14203/j.mev.2020.v11.102-110
E. Rijanto, Erik Adiwiguna, Aryo Putro Sadono, M. H. Nugraha, Oka Mahendra, R. Firmansyah
In modern sugarcane farms, sugarcane chopper harvesters are becoming widely used. A modern sugarcane chopper harvester is essentially a mechatronic system composed of a tractor and some implements with several electro-hydraulic control systems. Those control systems are controlled by electronic controller units (ECUs). It may fail during harvesting operation due to lack of maintenance, operator's awareness, skill, and field contour. This paper presents a new design of an embedded monitoring system for maintenance and production performance monitoring of a sugarcane chopper harvester in a real-time manner. A prototype of the embedded monitoring system was developed which partially realized the designed system. The experimental result showed that the main computer could communicate with other ECUs using a controller area network (CAN) bus. The dataset from four channels retrieved from the CAN bus represents the real values originating from the temperature sensor simulators. Apart from being sent to the CAN bus, the data are also recorded on a secure digital (SD) Card and sent to the internet of things (IoT) server. In the update time interval testing, the 100 ms interval does not give any error.
{"title":"A new design of embedded monitoring system for maintenance and performance monitoring of a cane harvester tractor","authors":"E. Rijanto, Erik Adiwiguna, Aryo Putro Sadono, M. H. Nugraha, Oka Mahendra, R. Firmansyah","doi":"10.14203/j.mev.2020.v11.102-110","DOIUrl":"https://doi.org/10.14203/j.mev.2020.v11.102-110","url":null,"abstract":"In modern sugarcane farms, sugarcane chopper harvesters are becoming widely used. A modern sugarcane chopper harvester is essentially a mechatronic system composed of a tractor and some implements with several electro-hydraulic control systems. Those control systems are controlled by electronic controller units (ECUs). It may fail during harvesting operation due to lack of maintenance, operator's awareness, skill, and field contour. This paper presents a new design of an embedded monitoring system for maintenance and production performance monitoring of a sugarcane chopper harvester in a real-time manner. A prototype of the embedded monitoring system was developed which partially realized the designed system. The experimental result showed that the main computer could communicate with other ECUs using a controller area network (CAN) bus. The dataset from four channels retrieved from the CAN bus represents the real values originating from the temperature sensor simulators. Apart from being sent to the CAN bus, the data are also recorded on a secure digital (SD) Card and sent to the internet of things (IoT) server. In the update time interval testing, the 100 ms interval does not give any error.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45310711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-30DOI: 10.14203/j.mev.2020.v11.38-44
M. Arifin
Microturbine based on a parabolic dish solar concentrator runs at high speed and has large amplitudes of subsynchronous turbo-shaft motion due to the direct normal irradiance (DNI) fluctuation in daily operation. A detailed rotordynamics model coupled to a full fluid film radial or journal bearing model needs to be addressed for increasing performance and to ensure safe operating conditions. The present paper delivers predictions of rotor tip displacement in the microturbine rotor assembly supported by a journal bearing under non-linear vibrations. The rotor assembly operates at 72 krpm on the design speed and delivers a 40 kW power output with the turbine inlet temperature is about 950 °C. The turbo-shaft oil temperature range is between 50 °C to 90 °C. The vibrations on the tip radial compressor and turbine were presented and evaluated in the commercial software GT-Suite environment. The microturbine rotors assembly model shows good results in predicting maximum tip displacement at the rotors with respect to the frequency and time domain.
{"title":"Rotordynamics analysis of solar hybrid microturbine for concentrated solar power","authors":"M. Arifin","doi":"10.14203/j.mev.2020.v11.38-44","DOIUrl":"https://doi.org/10.14203/j.mev.2020.v11.38-44","url":null,"abstract":"Microturbine based on a parabolic dish solar concentrator runs at high speed and has large amplitudes of subsynchronous turbo-shaft motion due to the direct normal irradiance (DNI) fluctuation in daily operation. A detailed rotordynamics model coupled to a full fluid film radial or journal bearing model needs to be addressed for increasing performance and to ensure safe operating conditions. The present paper delivers predictions of rotor tip displacement in the microturbine rotor assembly supported by a journal bearing under non-linear vibrations. The rotor assembly operates at 72 krpm on the design speed and delivers a 40 kW power output with the turbine inlet temperature is about 950 °C. The turbo-shaft oil temperature range is between 50 °C to 90 °C. The vibrations on the tip radial compressor and turbine were presented and evaluated in the commercial software GT-Suite environment. The microturbine rotors assembly model shows good results in predicting maximum tip displacement at the rotors with respect to the frequency and time domain.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":"11 1","pages":"38-44"},"PeriodicalIF":0.0,"publicationDate":"2020-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43259963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-30DOI: 10.14203/J.MEV.2020.V11.%P
G. Pikra
{"title":"Appendix MEV Vol 11 Iss 1","authors":"G. Pikra","doi":"10.14203/J.MEV.2020.V11.%P","DOIUrl":"https://doi.org/10.14203/J.MEV.2020.V11.%P","url":null,"abstract":"","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46990678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-30DOI: 10.14203/j.mev.2020.v11.22-29
A. Muharam, T. Mostafa, Suziana Ahmad, M. Masuda, Daiki Obara, R. Hattori, A. Hapid
A preliminary study of Class-E radio frequency power amplifier for wireless capacitive power transfer (CPT) system is presented in this paper. Due to a limitation in coupling capacitance value, a high frequency operation of switching power inverter is necessary for the CPT system. A GaN MOSFET offers reliability and performance in a high frequency operation with an improved efficiency over a silicon device. Design specification related to the parallel load parameter, LC impedance matching and experimental analysis of the amplifier is explored. An experimental setup for the proposed inverter and its integration with the CPT system is provided, and the power efficiency is investigated. As a result, by utilizing a 6.78 MHz resonant frequency and a 50 Ω resistive load, 50 W of power has been transmitted successfully with an end to end system efficiency over 81 %. Additionally, above 17 W wireless power transfer was demonstrated successfully in the CPT system under 6 pF coupling with the efficiency over 70 %.
{"title":"Preliminary study of 50 W Class-E GaN FET amplifier for 6.78 MHz capacitive wireless power transfer","authors":"A. Muharam, T. Mostafa, Suziana Ahmad, M. Masuda, Daiki Obara, R. Hattori, A. Hapid","doi":"10.14203/j.mev.2020.v11.22-29","DOIUrl":"https://doi.org/10.14203/j.mev.2020.v11.22-29","url":null,"abstract":"A preliminary study of Class-E radio frequency power amplifier for wireless capacitive power transfer (CPT) system is presented in this paper. Due to a limitation in coupling capacitance value, a high frequency operation of switching power inverter is necessary for the CPT system. A GaN MOSFET offers reliability and performance in a high frequency operation with an improved efficiency over a silicon device. Design specification related to the parallel load parameter, LC impedance matching and experimental analysis of the amplifier is explored. An experimental setup for the proposed inverter and its integration with the CPT system is provided, and the power efficiency is investigated. As a result, by utilizing a 6.78 MHz resonant frequency and a 50 Ω resistive load, 50 W of power has been transmitted successfully with an end to end system efficiency over 81 %. Additionally, above 17 W wireless power transfer was demonstrated successfully in the CPT system under 6 pF coupling with the efficiency over 70 %.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43595500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-30DOI: 10.14203/j.mev.2020.v11.11-21
B. Prasetyo, Faiz Syaikhoni Aziz, A. N. Handayani, Ari Priharta, A. I. C. Ani
The increasing need for electrical energy requires suppliers to innovate in developing electric distribution systems that are better in terms of quality and affordability. In its development, it is necessary to have a control that can combine the electricity network from renewable energy and the main network through voltage back-up or synchronization automatically. The purpose of this research is to create an innovative lux and current analysis on a lab-scale smart grid system using a fuzzy logic controller to control the main network, solar panel network and generator network to supply each other with lab-scale electrical energy. In the control, Mamdani fuzzy logic controller method is used as the basis for determining the smart grid system control problem solving by adjusting the current conditions on the main network and the light intensity conditions on the LDR sensor. Current conditions are classified in three conditions namely safe, warning, and trip. Meanwhile, the light intensity conditions are classified into three conditions namely dark, cloudy and bright. From the test results, the utility grid (PLN) is at active conditions when the load current is 0.4 A (safe) and light intensity is 1,167 Lux (dark). Then the PLN + PV condition is active when the load current is 1.37 (warning) and the light intensity is 8,680 lux (bright). Finally, the generator condition is active when the load current is 1.6 (trip) and the light intensity is 8,680 (bright). Based on the test results, it is known that the system can work to determine which source is more efficient based on the parameters obtained.
{"title":"Lux and current analysis on lab-scale smart grid system using Mamdani fuzzy logic controller","authors":"B. Prasetyo, Faiz Syaikhoni Aziz, A. N. Handayani, Ari Priharta, A. I. C. Ani","doi":"10.14203/j.mev.2020.v11.11-21","DOIUrl":"https://doi.org/10.14203/j.mev.2020.v11.11-21","url":null,"abstract":"The increasing need for electrical energy requires suppliers to innovate in developing electric distribution systems that are better in terms of quality and affordability. In its development, it is necessary to have a control that can combine the electricity network from renewable energy and the main network through voltage back-up or synchronization automatically. The purpose of this research is to create an innovative lux and current analysis on a lab-scale smart grid system using a fuzzy logic controller to control the main network, solar panel network and generator network to supply each other with lab-scale electrical energy. In the control, Mamdani fuzzy logic controller method is used as the basis for determining the smart grid system control problem solving by adjusting the current conditions on the main network and the light intensity conditions on the LDR sensor. Current conditions are classified in three conditions namely safe, warning, and trip. Meanwhile, the light intensity conditions are classified into three conditions namely dark, cloudy and bright. From the test results, the utility grid (PLN) is at active conditions when the load current is 0.4 A (safe) and light intensity is 1,167 Lux (dark). Then the PLN + PV condition is active when the load current is 1.37 (warning) and the light intensity is 8,680 lux (bright). Finally, the generator condition is active when the load current is 1.6 (trip) and the light intensity is 8,680 (bright). Based on the test results, it is known that the system can work to determine which source is more efficient based on the parameters obtained.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":"11 1","pages":"11-21"},"PeriodicalIF":0.0,"publicationDate":"2020-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44397457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-30DOI: 10.14203/j.mev.2020.v11.1-10
E. Joelianto, D. Christian, Agus Samsi
Unmanned aerial vehicle (UAV) quadrotors have developed rapidly and continue to advance together with the development of new supporting technologies. However, the use of one quadrotor has many obstacles and compromises the ability of a UAV to complete complex missions that require the cooperation of more than one quadrotor. In nature, one interesting phenomenon is the behaviour of several organisms to always move in flocks (swarm), which allows them to find food more quickly and sustain life compared with when they move independently. In this paper, the swarm behaviour is applied to drive a system consisting of six UAV quadrotors as agents for flocking while tracking a swarm trajectory. The swarm control system is expected to minimize the objective function of the energy used and tracking errors. The considered swarm control system consists of two levels. The first higher level is a proportional – derivative type controller that produces the swarm trajectory to be followed by UAV quadrotor agents in swarming. In the second lower level, a linear quadratic regulator (LQR) is used by each UAV quadrotor agent to follow a tracking path well with the minimal objective function. A genetic algorithm is applied to find the optimal LQR weighting matrices as it is able to solve complex optimization problems. Simulation results indicate that the quadrotors' tracking performance improved by 36.00 %, whereas their swarming performance improved by 17.17 %.
{"title":"Swarm control of an unmanned quadrotor model with LQR weighting matrix optimization using genetic algorithm","authors":"E. Joelianto, D. Christian, Agus Samsi","doi":"10.14203/j.mev.2020.v11.1-10","DOIUrl":"https://doi.org/10.14203/j.mev.2020.v11.1-10","url":null,"abstract":"Unmanned aerial vehicle (UAV) quadrotors have developed rapidly and continue to advance together with the development of new supporting technologies. However, the use of one quadrotor has many obstacles and compromises the ability of a UAV to complete complex missions that require the cooperation of more than one quadrotor. In nature, one interesting phenomenon is the behaviour of several organisms to always move in flocks (swarm), which allows them to find food more quickly and sustain life compared with when they move independently. In this paper, the swarm behaviour is applied to drive a system consisting of six UAV quadrotors as agents for flocking while tracking a swarm trajectory. The swarm control system is expected to minimize the objective function of the energy used and tracking errors. The considered swarm control system consists of two levels. The first higher level is a proportional – derivative type controller that produces the swarm trajectory to be followed by UAV quadrotor agents in swarming. In the second lower level, a linear quadratic regulator (LQR) is used by each UAV quadrotor agent to follow a tracking path well with the minimal objective function. A genetic algorithm is applied to find the optimal LQR weighting matrices as it is able to solve complex optimization problems. Simulation results indicate that the quadrotors' tracking performance improved by 36.00 %, whereas their swarming performance improved by 17.17 %.","PeriodicalId":30530,"journal":{"name":"Journal of Mechatronics Electrical Power and Vehicular Technology","volume":"11 1","pages":"1-10"},"PeriodicalIF":0.0,"publicationDate":"2020-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46440800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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