Papers by Muhammad Nizam Kamarudin
Performance Evaluation of an Adaptive Sigmoid Friction Compensation for Pneumatic Trajectory
2023 8th International Conference on Control and Robotics Engineering (ICCRE)
Journal of Advanced Manufacturing Technology (JAMT), 2015
Metal Line Detection: A New Sensory System for Line Following Mobile Robot
This manuscript addresses the development of a microcontroller-based braille display system. Rece... more This manuscript addresses the development of a microcontroller-based braille display system. Recently, tactile display devices use technologies such as electric motors, piezoelectric, and solenoids as actuators. Nevertheless, the device is seeming to be bulky, inflexible, and far from soft actuation. Thus, the project in this manuscript portrays the development of a new design by using Micro servomotors and embedded soft-computing algorithms. The system consists of a haptic belt and a sensing unit. The sensing part of a Braille cell is designed to be wearable on arm. The methodology to reach the outcomes involving the ATmega328P microcontroller in the Arduino board, Tower Pro SG51R micro servo, and the LV-MaxSonar-EZ1 ultrasonic sensor. These apparatuses are lumped in a Braille Display System with a Haptic Belt. The performance and functionality of the system are evaluated based on its ability to detect obstacles from four different locations by means of ultra-sonic sensors. The sensors actuate the servomotors to notice the blind. The system works well around 0.5 meters radius. The boundedness of the system radius is acceptable to secure ample time for the scanning process. The responses of the sensors upon various obstacles are presented in this manuscript with a thorough analysis.
Nonlinear stabilization with bounded controller
This In this paper, an extension of the Sontag's universal formula is proposed. For benchmark... more This In this paper, an extension of the Sontag's universal formula is proposed. For benchmark, the proposed method is compared with two other approaches, i.e. a universal Sontag's formula and a direct Lyapunov with comparing square. To observe the efficacy of the proposed method, a numerical nonlinear system with cubic damping is stabilized. The effectiveness of the proposed method is shown that the magnitude of the control signal can be bounded without a catastrophic effect to the closed loop stability. Other appealing features of the proposed method is that the stabilization cost can be reduced, and the elimination of the useful nonlinear terms can be avoided.
Model and Analysis of Wind Speed Profile using Artificial Neural Network - Feasibility Study in Peninsular Malaysia
Jurnal teknologi, Apr 13, 2015
Control of uncertain nonlinear systems using mixed nonlinear damping function and backstepping techniques
This paper depicts the design of control law to stabilize nonlinear system with mixed match-misma... more This paper depicts the design of control law to stabilize nonlinear system with mixed match-mismatch uncertainties with bounded disturbance. The design approach exploit the advantages and flexibility of backstepping technique. To compensate for the uncertainties and bounded disturbance, nonlinear damping function is augmented to the pre-designed unperturbed stabilizing function. Throughout the design, Young's inequality and comparing squares method is used to avoid elimination of useful nonlinear terms as well as to obtain feasible control law.
This paper presents an integrated sensor system to be applied in underwater vehicles based on 5-D... more This paper presents an integrated sensor system to be applied in underwater vehicles based on 5-DOF Inertial Measurement Unit (IMU) sensor, MPX pressure sensor, and temperature sensor. The main idea of the research is to improve the performance of the integrated sensor system by using the MATLAB/Simulink interfaced with MicroBox 2000/2000C for underwater vehicle applications. An integrated sensor or known as the smart sensor is a small component that designed to gather important data based on underwater applications. These types of sensors combined and integrated with signal processing hardware in a single compact waterproof device. All sensors are placed in a hard casing made of steel with the dimensions of 0.10 m diameter, 0.85 m height and weight of 0.23 kg. The output of the sensors shows that; the offset error of accelerometer and gyroscopes are within 0.5 to 1.0 and 0.1 to 0.5, respectively. It is shown that the pressure occurs at 0.75s and the reading on voltage increased rapidly until 0.5V and maintained at 0.5V for 1 s. With minimum implementation cost and improved performances of the integrated sensors, this research benefits offshore and underwater industries especially for underwater vehicle.
Journal of Mechanical Engineering and Sciences, Dec 30, 2015
This paper describes the modification of all-terrain vehicle (ATV) to semi-autonomous control bas... more This paper describes the modification of all-terrain vehicle (ATV) to semi-autonomous control based on using wireless control system. The semi-autonomous for ATV is based on yaw control. This wireless control system will control the cylinder linear actuator that is added to the ATV. Nowadays, the usage of ATV gives much benefit to their field of work with their design and is dedicated to huge driveability on irregular ground track as well as on paved road. The main problem of the ATV involves the steering control (yaw control), which cannot rotate easily and needs high forces to control the movement of ATV. Yaw movement is very limited when driven manually, since it requires high forces to move the steering. This project begins with a mathematical and empirical modelling to capture the dynamics of a newly modified ATV. In this project, the modelling of ATV by using system identification technique is conducted. The model will then be compared to its derived mathematical model. Then, the design of a wireless control system is required to solve the problem, which results in an easy rotation of 45° to the left and right with precise, accurate and lightweight yaw movement and verification using MATLAB/Simulink. As a conclusion, the yaw estimation shows that the ATV movement achieved its stability at angle 45°.
Voltage Control of Distribution Power Generation for Intentional Islanding
Journal of critical reviews, 2020
The focus of this study is to develop the voltage controller for low voltage network of distribut... more The focus of this study is to develop the voltage controller for low voltage network of distributed generation (DG) during islanding events. The performance of voltage controller then was presented. The low voltage network model, as well as voltage controller, was developed in PSCAD software. There are a few cases have been considered in this paper such as the performance of distribution power generation focusing on the situation of islanding. The cases divided into two main cases, first is without voltage control and the second case is the network study with voltage control; (1) when load increased condition (2) when load shedding condition, and (3) fault condition.
PV generation and its impact on low voltage network
The objective of the paper is to present the modelling of the single phase grid connected Photovo... more The objective of the paper is to present the modelling of the single phase grid connected Photovoltaic (PV) generation and its impact on low voltage grid. The network model has been developed in PSCAD software. The designed system includes low voltage network, single phase voltage source inverter (VSI) to control active (P) and reactive power (Q) flow to the grid and PV panel as the main source of energy. In order to control PV active power output and maintain the reactive power to zero value, a typical control scheme (PQ control) has been used. The impact of the PV generation on the network voltage is assessed and analyzed.
International journal of engineering & technology, Dec 9, 2018
This work presents the integration of two robust controllers such as back-stepping and sliding mo... more This work presents the integration of two robust controllers such as back-stepping and sliding mode controller, which is designed for nonlinear system with external disturbance injected to its actuator. Gravitational Search Algorithm (GSA) is applied to the designed controller to optimize the control and reaching law parameters for the system. The dynamics of the system is developed by consider the external force as system's nonlinearities. The tracking output and tracking error produced by combination of these two controllers is compared with the performance of classical sliding mode controller. Based on the results obtained, integration of these two controllers generates better performance than classical sliding mode controller based on its output and error.
Utilising Rate of Change of Positive Sequence of Voltage as an Anti-Islanding Strategy for Distributed Generation
The modern electrical grid portrays an increase in Distributed Generation (DG) application in ord... more The modern electrical grid portrays an increase in Distributed Generation (DG) application in order to satisfy the demand of electricity. These DG infiltrations altered the classical grid architecture hence affecting the grid protection structure specifically in related to the islanding situation. Unintentional islanding brings serious threat to the maintenance personnel in charge of the islanded grid, electrical instruments as well as the DG connected in the microgrid. A lot of researches were already conducted and continuously done in the chase of an ideal anti-islanding strategy, whilst the ideal one is yet to be acquired. This paper proposes an islanding detection strategy based on monitoring the rate of change of positive sequence of voltage (ROCOPV). Simulations are conducted for several islanding situations that include the deficit, surplus, and balanced islanding cases, hence the output procured is promising. The ROCOPV efficiently detect all demonstrated islanding cases within 0.05 s without any non-detection zone (NDZ).
Journal of Engineering and Technology, Dec 31, 2013
This paper describes a comparison study for the modelling of the unmanned Underwater Glider (UG) ... more This paper describes a comparison study for the modelling of the unmanned Underwater Glider (UG) using system identification techniques based on two experimental set up. The experimental data obtained from lab tank test and pool test to infer model using a MATLAB System Identification toolbox. The experimental testing of UG only considered the horizontal movement or called as auto-heading. The modeling obtained will be used to design the suitable controller for heading control. The UG will be tested on an open loop system to obtain measured input-output signals. Input and output signals from the system are recorded and analyzed to infer a model using a System Identification MATLAB toolbox. Two models obtained based on data tabulated and verify using mathematical modelling of UG. The parameter of UG come up from the real model of UG and Solidworks software. The Underwater Lab Tank model has better performance which has faster rise time and settling time than swimming pool model and mathematical model.
Indonesian Journal of Electrical Engineering and Computer Science, Sep 1, 2016
This project is describes the development of underwater vehicle which is remotely operated crawle... more This project is describes the development of underwater vehicle which is remotely operated crawler (ROC). The ROC is developed for the implementation of underwater surface floor and used as for rescuing application. This project is aim to reduce the risk the human life and to solve the disability of human to dive to the underwater for rescue and archeologist work in a longer period. Due to the underwater vehicle that can be operated in a larger depth and reducing the liability of the human life. Moreover, the main problem with this ROC application is to travelling under the uneven of the underwater floor and make sure it always have negative buoyant and a good stability to perform at uneven surface of underwater. Furthermore, the ROC need the overcome the obstacle of the underwater surface without any problem. Therefore, the design of ROC is based on four wheel mechanism to maneuver it at the uneven surface. Besides that, the ROC is tethered and control manually by using a joystick controller and the Peripheral Interface Controller (PIC) are used to control this ROC. This method is to fulfill the target of the project that are to develop and fabricate the ROC and to study the performance of the ROC in terms of controllability, stability and maneuverability. As a result, the movement of ROC is analyzing in order to gain the requirement of stability and the buoyancy in the water. Moreover, the development of the ROC can be tested in several experiments which includes overcome obstacle, controllability, and it performances to be operated on the surface floor of underwater. Hence, this project will gives the good impact and benefit related to the underwater industries and can be applied in the rescuing application in the future.
Nonlinear Proportional Integral (NPI) Double Hyperbolic Controller for Pneumatic Actuator System
Lecture notes in electrical engineering, Dec 17, 2019
In this paper, an evaluation of Nonlinear Proportional Integral (NPI) Double Hyperbolic controlle... more In this paper, an evaluation of Nonlinear Proportional Integral (NPI) Double Hyperbolic controller, which is tested on a pneumatic actuator system is performed. The NPI Double Hyperbolic controller consists of two nonlinear functions that are added before proportional and integral gains. These functions are named as nonlinear proportional and nonlinear integral, in which they are embedded with a hyperbolic function. This controller scheme is designed via MATLAB/Simulink software and it is run four times for simulation and experimental work. The scheme of this controller includes the system’s mathematical model, which is obtained by estimating model using System Identification Toolbox in MATLAB. In addition, the simulation and experimental works are tested using the step input. The performance of the proposed technique is compared between PI and NPI Double Hyperbolic controller based on the rise time and overshoot. The results show that the NPI Double Hyperbolic has better transient performance with smaller rise time and smaller overshoot via experimental work compared to the conventional PI controller.
TELKOMNIKA (Telecommunication Computing Electronics and Control)
The appearance of uncertainties and disturbances often effects the characteristics of either line... more The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
Journal of Fundamental and Applied Sciences, 2018
This paper presents a smart power supply by using solar energy as the sources. It reduces the use... more This paper presents a smart power supply by using solar energy as the sources. It reduces the use of fuel in order to achieve maximize generation of electricity (during day time). The project equipped with solar tracker device which is absorbs the ultraviolet (UV) from the sun in maximum condition. The tracker operates with dual axis rotation where it can be rotating with 360° or which is 180° vertical/horizontals. This circuit is activated when light dependent resistor (LDR) detecting the light where four sensors are placed at east, west, north and south position. The solar panel is embedded with gear system to control the speed of the tracker and also obtain full charge of the 12V rechargeable lead acid battery. The charge controller is used to control the load for operating the system and recharge the battery, it also to protect the battery from over charge.
TELKOMNIKA (Telecommunication Computing Electronics and Control), 2020
A pneumatic actuator is a device that converts compressed air into mechanical energy to perform v... more A pneumatic actuator is a device that converts compressed air into mechanical energy to perform varieties of work. It exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement which is difficult to manage and requires an appropriate controller for better performance. The purpose of this study is to review the controller design of pneumatic actuator recommended by previous researchers from the past years. Initially, the basic views of the pneumatic will be presented in terms of introduction to the pneumatic actuator and its applications in industries. At the end of this review, discussions on the design of the controllers will be concluded and further research will be proposed along with the improvement of control strategies in the pneumatic actuator systems.
Journal of Mechanical Engineering and Sciences, 2015
This paper describes the modification of all-terrain vehicle (ATV) to semi-autonomous control bas... more This paper describes the modification of all-terrain vehicle (ATV) to semi-autonomous control based on using wireless control system. The semi-autonomous for ATV is based on yaw control. This wireless control system will control the cylinder linear actuator that is added to the ATV. Nowadays, the usage of ATV gives much benefit to their field of work with their design and is dedicated to huge driveability on irregular ground track as well as on paved road. The main problem of the ATV involves the steering control (yaw control), which cannot rotate easily and needs high forces to control the movement of ATV. Yaw movement is very limited when driven manually, since it requires high forces to move the steering. This project begins with a mathematical and empirical modelling to capture the dynamics of a newly modified ATV. In this project, the modelling of ATV by using system identification technique is conducted. The model will then be compared to its derived mathematical model. Then, the design of a wireless control system is required to solve the problem, which results in an easy rotation of 45° to the left and right with precise, accurate and lightweight yaw movement and verification using MATLAB/Simulink. As a conclusion, the yaw estimation shows that the ATV movement achieved its stability at angle 45°.
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Papers by Muhammad Nizam Kamarudin