M. Khairudin

Bio: M. Khairudin is an academic researcher from Yogyakarta State University. The author has contributed to research in topics: Mathematics education & Robust control. The author has an hindex of 7, co-authored 43 publications receiving 180 citations.

Linear matrix inequality-based robust proportional derivative control of a two-link flexible manipulator

Abstract: This paper presents the design and development of a robust proportional derivative (PD) controller based on linear matrix inequality (LMI) for the control of a hub angular position and end-point deflection of a planar two-link flexible manipulator. The dynamics of the manipulator is uncertain and time varying due to the variation of payloads that result in large variations in the excitation of flexible modes. Practical design steps are presented in which the LMI-based conditions are formulated to obtain a robust PD gains to control the flexible manipulator. The robust controller has an advantage as compared to the Ziegler-Nichols tuned PD controller as the identified PD gains can be used to control the system under various loading conditions. The performances of the proposed controller are evaluated in terms of input tracking capability of the hub angular position response and level of deflection of both links of the flexible manipulator. Experimental results show that despite using the same sets of PD ga...

The Mobile Robot Control in Obstacle Avoidance Using Fuzzy Logic Controller

Abstract: A very challenging problem in mobile robot systems is mostly in obstacle avoidance strategies. This study aims to describe how the obstacle avoidance system on mobile robots works. This system is designed automatically using fuzzy logic control (FLC) developed using Matlab to help the mobile robots to avoid a head-on collision. The FLC designs were simulated on the mobile robot system. The simulation was conducted by comparing FLC performance to the proportional integral derivative (PID) controller. The simulation results indicate that FLC works better with lower settling time performance. To validate the results, FLC was used in a mobile robot system. It shows that FLC can control the velocity by braking or accelerating according to the sensor input installed in front of the mobile robot. The FLC control system functions as ultrasonic sensor input or a distance sensor. The input voltage was simulated with the potentiometer, whereas the output was shown by the velocity of DC motor. This study employed the simulation work in Simulink and Matlab, while the experimental work used laboratory scale of mobile robots. The results show that the velocity control of DC motors with FLC produces accurate data, so the robot could avoid the existing obstacles. The findings indicate that the simulation and the experimental work of FLC for mobile robot in obstacle avoidance are very close. © 2020 Tim Pengembang Jurnal UPI Article History: Received 14Nov 2019 Revised 04 Des 2019 Accepted 20 Jan 2020 Available online 26 May 2020 ____________________

System Identification and LMI Based Robust PID Control of a Two-Link Flexible Manipulator

Abstract: This paper presents investigations into the development of a linear matrix inequalities (LMI) based robust PID control of a nonlinear Two-Link Flexible Manipulator (TLFM) incorporating payload. A set of linear models of a TLFM is obtained by using system identification method in which the linear model represents the operating ranges of the dynamic system. Thus, the LMI constraints permit to robustly guarantee a certain perturbation rejection level and a region of pole location. To study the effectiveness of the controller, initially a PID control is developed for TLFM with varying payloads. The performances of the controllers are assessed in terms of the input tracking controller capability of the system as compared to the response with PID control. Moreover, the robustness of the LMI based robust PID control schemes is discussed. Finally, a comparative assessment of the control strategies is presented.

Mobile Virtual Reality to Develop a Virtual Laboratorium for the Subject of Digital Engineering

Abstract: This paper provides development of a virtual laboratorium for the subject of digital engineering. The virtual digital engineering laboratory based on mobile virtual reality is a finding that can be used for replacing a real laboratory. Using a virtual laboratory can be conducted a learning and teaching process at anytime and anywhere as long as it has an android device. This study applies a virtual laboratory to mobile virtual reality for a virtual digital engineering laboratory. The results of this study were fuctional application software to learn how to apply a virtual digital engineering laboratory through mobile virtual reality technology. A lot of components and circuits of logic gate can be simulated in this virtual laboratorium. This study presents a simple Android-based virtual tools for the visualization and investigation in real time of circuits of logic gates without signal disturbances. The package can be used as an educational tool in various lectures or homework to aid teaching digital engineering theory or practically.

Dynamic modelling of a flexible link manipulator robot using amm

Abstract: This paper presents modeling of a flexible link manipulator using Lagrangian technique in conjunction with the assumed mode method (AMM). The links are modeled as Euler-Bernoulli beams satisfying proper mass boundary conditions. A payload is added to the tip of the outer link, while hub inertias are included at the actuator joints. The Lagrangian approach is used to derive the dynamic model of the structure. In this research, the dynamic model of a flexible link manipulator verified using Matlab/Simulink simulation. The model formulation proposed in this work is complete in the sense that it considers the effects of payload and damping structural of the link. The emphasis has been set on obtaining accurate equations of motion that display the most relevant aspects of the coupling between rigid and flexible dynamics.

Multimedia in Learning

Abstract: A wide variety of media can be used in learning, including distance learning, such as print, lectures, conference sections, tutors, pictures, video, sound, and computers. Any one instance of distance learning will make choices among these media, perhaps using several.

Review of modelling and control of flexible-link manipulators:

Abstract: In recent decades, flexible manipulators have been studied by many researchers from robotics, solid mechanics, and control fields. Flexible manipulators have many advantages, including low weight b...

Blended Learning Adoption and Implementation in Higher Education: A Theoretical and Systematic Review

Abstract: Technological innovations such as blended learning (BL) are rapidly changing teaching and learning in higher education, where BL integrates face to face teaching with web based learning. Thus, as polices related to BL increases, it is required to explore the theoretical foundation of BL studies and how BL were adopted and implemented in relation to students, lecturers and administration. However, only fewer studies have focused on exploring the constructs and factors related to BL adoption by considering the students, lecturers and administration concurrently. Likewise, prior research neglects to explore what practices are involved for BL implementation. Accordingly, this study systematically reviews, synthesizes, and provides meta-analysis of 94 BL research articles published from 2004 to 2020 to present the theoretical foundation of BL adoption and implementation in higher education. The main findings of this study present the constructs and factors that influence students, lecturers and administration towards adopting BL in higher education. Moreover, findings suggest that the BL practices to be implemented comprises of face-to-face, activities, information, resources, assessment, and feedback for students and technology, pedagogy, content, and knowledge for lecturers. Besides, the review reveals that the ad hoc, technology acceptance model, information system success model, the unified theory of acceptance and use of technology, and lastly diffusion of innovations theories are the mostly employed theories employed by prior studies to explore BL adoption. Findings from this study has implications for student, lecturers and administrators by providing insights into the theoretical foundation of BL adoption and implementation in higher education.