Summary
This article presents a design strategy and stability analysis of modified repetitive sliding mode controller for uncertain linear systems. A modified repetitive controller is adopted to simultaneously track and reject periodic signals. A discrete‐time sliding mode controller is combined to compensate the slow response of repetitive control and to provide robustness against plant parameters uncertainties. Stability analysis is provided to prove boundedness of the proposed control law and the convergence of sliding function and the tracking error. Comparative simulation results demonstrate that the proposed method is able to accurately track reference signal and to reject disturbance with fast transient response. The results also indicate that the closed‐loop system remains stable in the presence of plant parameter changes.
idAbstract. The road damage due to excessive load is one of the causes of accidents on the road. A device to measure weight of the passing vehicles needs to be planted in the road structure. Thus, a weight sensor for the passing vehicles is required. In this study, we designed a weight sensor for a static load based on a power loss due to a micro bending on the optical fiber flanked on a board. The following main components are used i.e. LED 1310 nm as a light source, a multimode fiber optic as a transmission media and a power meter for measuring power loss. This works focuses on obtaining a suitable deformer design for weight sensor. Experimental results show that deformer design with 1.5 mm single side has level of accuracy as 4.32% while the design with 1.5 mm double side has level of accuracy as 98.77%. Increasing deformer length to 2.5 mm gives 71.18% level of accuracy for single side, and 76.94% level of accuracy for double side. Micro bending design with 1.5 mm double side has a high sensitivity and it is also capable of measuring load up to 100 kg. The sensor designed has been tested for measuring the weight of motor cycle, and it can be upgraded for measuring heavy vehicles.
Pengembangan teknik kontrol penerbangan (flight control) untuk drone tidaklah sederhana disebabkan oleh nonlinearitas, ketidakpastian, dan karakteristik dinamis udara. Bahkan, ini lebih rumit dari sistem kontrol yang memiliki hanya satu input dan satu output, diakibatkan kendali penerbangan drone dapat memiliki lebih dari satu input dan output. Fasilitas 3 degree of freedom (DOF) helikopter dapat mengimplementasikan teknik penerbangan drone jenis bikopter yang memiliki dua rotor secara eksperimen. Posisi tinggal landas (take off) drone sangatlah penting berkaitan dengan keselamatan awal penerbangan. Metode kontrol Proportional Integral Derivatif (PID) merupakan teknik populer yang tidak hanya dipelajari di dunia pendidikan tetapi juga telah diterapkan oleh industri untuk mengontrol plant-nya. Tujuan penelitian ini adalah untuk mempelajari teknik kontrol penerbangan posisi take off drone bikopter dengan menerapkan metode PID baik kajian teori maupun eksperimennya. Hasil eksperimen menunjukkan bahwa koefisien penguatan (gain) berpengaruh terhadap kesalahan dan lineraritas posisi drone. Variasi komponen gain kendali proportional integral lebih buruk dari proportional derivatif. Untuk mendapatkan respon posisi yang paling akurat dan linear, seluruh koefisien PID harus diaplikasi pada teknik kontrol penerbangan posisi tinggal landas drone bikopter.
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