Papers by Khisbullah Hudha
International Journal of Vehicle Safety, 2018
This paper focuses on the design of a fuzzy fractional Proportional-Integral-Derivative (PID) con... more This paper focuses on the design of a fuzzy fractional Proportional-Integral-Derivative (PID) controller. The controller which is based on the conventional PID controller is modified to be P 1-α I 1-β D 1-γ with the objective to make the controller more flexible and robust to the changes in input and the parameters. In this control structure, the fuzzy logic control acts as the tuner for the parameters α, β and γ, so that the overall controller parameter can be varied and converge better to the changes in a system. The designed fuzzy fractional PID controller is applied to a validated antilock braking system model using an electronic wedge brake system as the actuator. Numerous numerical simulations and comparisons with other fractional PID/conventional PID controllers show that the fuzzy fractional PID controller can not only ensure good control performance with respect to reference input but also improve the system robustness with respect to model uncertainties.
International Journal of Advanced Mechatronic Systems, 2020
This paper presents the development of path tracking control strategy for a tracked vehicle. A pa... more This paper presents the development of path tracking control strategy for a tracked vehicle. A path tracking control strategy is developed using an established Stanley controller. In this study, the controller is integrated with geometric model based on Ackerman steering configuration to provide a relationship between the path tracking controller and tracked vehicle model. The tracked vehicle model consists of several modules such as kinematic model, velocity model, local and global coordinates, turning radius and dynamic model. The main contribution of this paper is the integration of path tracking control between tracked vehicle model and geometric model based on Ackerman steering configuration which is still limited in this research area. The validation of path tracking controller is completed in three various speeds, which are 0.5 m/s, 1 m/s and 3 m/s. All these three tests show that the percentage of error between desired path and the vehicle responses are below than 1% for all tests.
2021 IEEE International Conference on Automatic Control & Intelligent Systems (I2CACIS), 2021
In propelling the tracked vehicle, each track is fitted with an electric motor which will regulat... more In propelling the tracked vehicle, each track is fitted with an electric motor which will regulate torque to the tracks. In this study, the development of electric motor model and motor speed tracking control will be described. To do this, a non-parametric model was chosen by generalizing the experiment data from system input-output properties. However, characterization of tracked vehicle electric motor need to be done before creating the non-parametric model. The final model developed using non-parametric model are then used to study the speed tracking control of tracked vehicle electric motor through simulation and experiment. The tracked vehicle electric motor was tested in two different inputs, which are step input and sine input. The resulted show that the maximum percentage of overshoot recorded for both cases are less than 15%.
2021 IEEE 9th Conference on Systems, Process and Control (ICSPC 2021), 2021
This study aims to determine the suitable additive material for MRE for impact application. Magne... more This study aims to determine the suitable additive material for MRE for impact application. Magnetorheological (MR) is an intelligent material, which its mechanical and rheological properties can be altered upon applying a magnetic field. MR can be formed as a fluid, a gel, or a solid-like elastomer. During the fabrication of MR, the matrix materials, magnetic particles, as well as ratio, are set using either a room-temperature or a high-temperature vulcanization curing method. This study focuses on the magnetorheological elastomer, also known as MRE, on the impact application. Matrices such as rubber, magnetic particles, and other additives are used in the preparation, and the procedures for fabricating the MRE are explained. In addition, MRE properties with a varied current are discussed from the impact test data. The performance of MRE with additives of ferrite in the impact test is slightly better than zinc, copper, and aluminium, which is 5.73%, 7.03%, and 9.37%. The result shows that ferrite is the most suitable material to be used as an additive in fabricating the MRE.
International Journal of Advanced Mechatronic Systems, 2017
Concerns over environmental issue and increasing fuel prices have triggered rapid development in ... more Concerns over environmental issue and increasing fuel prices have triggered rapid development in vehicle electrification. Supported with the advancement in electronics technology, developments of electronics steering system provide potential solution toward this direction. The steer by wire (SBW) system in vehicle replaces the conventional steering which utilises mechanical linkage between steering wheel and front wheel with electronics system. The objective of this paper is to develop a steer by wire mechanism using rack-pinion system with ECU integration. The hardware is built with additional DC motor and angular feedback sensors attached to the existing rack-pinion system in a vehicle steering mechanisms. The SBW control algorithm is embedded within an electronic control unit (ECU) to regulate DC motor torque in rotating the wheel to meet a desired steering angle. The results show that the hardware equipped with a suitable electric driver circuit and DC motor controller was successful in controlling the vehicle manoeuvrability. From reliability analysis, it can be reported that the responses of the SBW system show acceptable pure delay, mechatronics delay and response time.
2015 IEEE International Conference on Industrial Engineering and Engineering Management (IEEM), 2015
The aim of this paper is to minimize the unwanted disturbance occurred in a wheeled armored vehic... more The aim of this paper is to minimize the unwanted disturbance occurred in a wheeled armored vehicle during firing. An unwanted yaw moment occurred at the Center of Gravity (CG) of the armored vehicle caused by the impulse force generated during firing. This firing force tends to create instability conditions for the armored vehicle during firing. Therefore, an active safety system known as Active Front Wheel Steering (AFWS) is implemented to provide steering correction as a counter action of the firing disturbance and return the armored vehicle back to its initial travelling direction after firing moment. The AFWS is developed based on various control strategy known as yaw rate feedback, sideslip feedback and firing moment estimator feedback with summation moment reference (SuM-FME) controls. Each control strategies are evaluated using two types of vehicle speed, 40 and 60 km/h in order to study the performance of AFWS while in dynamic condition. A suitable control strategy is selected as the firing on board system (FoBS) to enhance the dynamic performance of the armored vehicle during firing.
2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 2018
This paper presents a hardware-in-the-loop (HiL) simulation study of an adaptive trajectory follo... more This paper presents a hardware-in-the-loop (HiL) simulation study of an adaptive trajectory following strategy consists of a knowledge-based adaptive mechanism, to automatically guide an armoured vehicle along a desired path. To model the armoured vehicle, a 7 Degree-of-Freedoms (DoF) mathematical model was used. Next, a geometric controller was developed based on Stanley controller. A knowledge database was built using Particle Swarm Optimisation (PSO) algorithm to optimise set of controller parameters depending on various combinations of vehicle speed and heading error. An adaptive mechanism was developed to automatically adjust controller parameters based on this knowledge. The controller was implemented through HiL simulations and evaluated against the original Stanley Controller. Trajectory following performance was evaluated and it was proven that the adaptive controller managed to guide the armoured vehicle successfully along the roads with 87% lateral error reductions on HiL compared to the simulations. It was also shown that the proposed adaptive controller managed to produce correctional steering actions that is suitable for the steering actuator to generate.
International Journal of Dynamics and Control, 2022
Journal of Engineering and Technology, 2015
In this study, a seven degree of freedom (DOF) ride model of armored vehicle is employed in contr... more In this study, a seven degree of freedom (DOF) ride model of armored vehicle is employed in control system to control the vehicle ride performance especially in body acceleration, body pitch acceleration and body roll acceleration due to extreme road profile and disturbance using Hybrid control structure optimized by Particle Swarm Optimization (PSO) algorithm. The seven DOF ride model parameters are obtained from CARSIM software by selecting heavy vehicle High Mobility Multipurpose Wheeled Vehicle (HMMWV) as benchmark. The performance of the Hybrid control structure without optimization were compared to the performance of a simple PID control structure and passive 7 DOF vehicle ride model. Lastly, the performance of Hybrid control structure without optimization were compared to the performance of Hybrid control structure optimized by PSO algorithm.
In railway vehicle technology, there are continuously increasing requirements regarding riding co... more In railway vehicle technology, there are continuously increasing requirements regarding riding comfort, running safety, and speed of railway vehicles. These requirements are opposed by the fact that the condition of the tracks is getting worse and maintenance is becoming expensive. In view of this conflict, conventional suspension concepts are unable to accommodate those needs. This paper investigates the performance of semi-active control of lateral suspension system namely fuzzy body-based skyhook and fuzzy bogie-based skyhook for the purpose of attenuating the effects of track irregularities to the body lateral displacement, body roll angle and unwanted yaw responses of railway vehicle. In fuzzy bogie-based skyhook, a virtual damper is attached between bogie and sky to damp out unwanted vibratory motion of the bogie and to prevent the motion to be transmitted to the body. For fuzzy body-based skyhook, the virtual damper is attached between the body and the sky. The controller is ...
This paper presents the detailed derivation of gun turret modelling along with the estimation of ... more This paper presents the detailed derivation of gun turret modelling along with the estimation of the ideal azimuth and elevation angles for accurate firing. A control strategy for the gun turret is developed to ensure the capability of an actuator to provide sufficient torque and accurate firing angle for the gun platform and turret. A DC motor model is constructed to actuate the gun platform and turret in high accuracy for firing angle according to the desired target angle. The desired target angle is designed based on the three-dimensional (3D) projectile motion to obtain an accurate firing angle by depending on the distance parameter x, y and z plane coordinates. The control structure for the system is controlled using the Propotional Integral Derivative (PID) and sliding mode control (SMC). The controllers are evaluated based on the performance to generate the drive torque and reduce the error of the system in tracking the desired target angle accurately. The simulation result s...
Journal of Engineering and Technology, 2015
This paper presents the development of automatic braking system. The brake modeling that consists... more This paper presents the development of automatic braking system. The brake modeling that consists of brake pedal mechanism, static control valve, air flow dynamic, variable orifice modeling and brake system hydraulic was developed using a MATLAB SIMULINK software. Then, the braking system will be controlled by using a Sliding Mode Controller (SMC) and PID controller. The result obtained will be validated with the brake torque desired for 100 N.m and 50 N.m. of various frequency. Validation results showed that controller has a better performance compared to the PID controller.
This paper presents a study on the position tracking response of a Propotional-Integral-Derivativ... more This paper presents a study on the position tracking response of a Propotional-Integral-Derivative (PID) controlled- slider crank mechanism, which is driven by a two phase stepper motor. In this study, the rod and crank are assumed to be rigid where the Newton second law is applied to formulate the equation of motion. A position tracking control of the slider crank mechanism is then developed by using PID controller. Several tests such as saw tooth, step function and square function are used in order to examine the performance of the proposed control structure. The results show that, the proposed control structure is able to tracking the desired position with a good response. The slider crank mechanism rig is then developed to investigate experimentally the ability of the proposed controller structure. The results show that the proposed control structure is able to track the desired displacements with accepTABLE error.
International Journal of Heavy Vehicle Systems, 2019
International Journal of Heavy Vehicle Systems, 2018
Journal of Intelligent & Robotic Systems, 2016
Autonomous vehicle field of study has seen considerable researches within three decades. In the l... more Autonomous vehicle field of study has seen considerable researches within three decades. In the last decade particularly, interests in this field has undergone tremendous improvement. One of the main aspects in autonomous vehicle is the path tracking control, focusing on the vehicle control in lateral and longitudinal direction in order to follow a specified path or trajectory. In this paper, path tracking control is reviewed in terms of the basic vehicle model usually used; the control strategies usually employed in path tracking control, and the performance criteria used to evaluate the controller's performance. Vehicle model is categorised into several types depending on its linearity and the type of behaviour it simulates, while path tracking control is categorised depending on its approach. This paper provides critical review of each of these aspects in terms of its usage and disadvantages/advantages. Each aspect is summarised for better overall understanding. Based on the critical reviews, main challenges in the field of path tracking control is identified and future research direction
International Journal of Advanced Mechatronic Systems, 2017
An unwanted yaw motion occurred at the centre of gravity (CG) of the wheeled armoured vehicle cau... more An unwanted yaw motion occurred at the centre of gravity (CG) of the wheeled armoured vehicle caused by the impulse force generated during gun turret firing. The recoil force from the gun fire tends to create instability conditions for the armoured vehicle during firing condition and affects the dynamic performance of armoured vehicle in lateral direction. In this paper, an active safety system, active front wheel steering (AFWS) system using estimated disturbance rejection feedback (EDRF) embodiment is proposed to reject the unwanted yaw disturbance and stabilise the armoured vehicle. Besides, the proposed control strategy is also used to re-position the armoured vehicle back to its initial position. Therefore, a summation moment reference input is used to counter back the unwanted firing moment occurred due to gun firing impulse at CG of the armoured vehicle. The armoured vehicle is evaluated via simulation analysis in term of yaw rate, yaw angle, vehicle sideslip angle, lateral acceleration and lateral displacement. Significant improvements up to 75% have been achieved by using the proposed control strategy of AFWS system to reject the external disturbance due to the firing force.
Advances in Mechanical Engineering, 2017
This article presents an active safety system for a wheeled armored vehicle to encounter the effe... more This article presents an active safety system for a wheeled armored vehicle to encounter the effect of the firing force. The firing force which acts as an external disturbance causes unwanted yaw moment occurred at the center of gravity of the wheeled armored vehicle. This effect causes the wheeled armored vehicle lose its handling stability and the traveling path after the firing condition. In order to overcome the stability problem, a Firing-On-the-Move assisted by an Active Front Wheel Steering system is proposed in this study. This system is developed based on two established systems, namely, Firing-On-the-Move and Active Front Wheel Steering systems. The proposed system is designed to improve the handling and directional stability performances of the armored vehicle while fires in dynamic condition. Four types of control strategies are designed and investigated in this study to identify the most optimum control strategy as the Firing-On-the-Move assisted by an Active Front Whee...
2016 SICE International Symposium on Control Systems (ISCS), 2016
In this study, a trajectory following strategy consists of two feedback loops is employed on an a... more In this study, a trajectory following strategy consists of two feedback loops is employed on an armoured vehicle to follow a pre-defined trajectory using PID controllers. A 7 Degree-of-Freedoms (DOF) mathematical model is used to model the armoured vehicle which considers full vehicle interactions including tire model, powertrain model, slips and vertical load distribution model. Next, parametric study for the PID parameters was carried out. To tune the PID parameters, two methods are used namely try-and-error based on the parametric study and also using Particle Swarm Optimisation (PSO) algorithm. Lastly, controller responses were evaluated and compared in terms of its performance in following the trajectory. It was proven that PSO algorithm manage to tune and optimise the PID controller parameters for the trajectory following control.
Jurnal Teknologi, 2016
This manuscript presents the development of an armored vehicle model in lateral and longitudinal ... more This manuscript presents the development of an armored vehicle model in lateral and longitudinal directions. A Nine Degree of Freedom (9-DOF) armored vehicle model was derived mathematically and integrated with an analytical tire dynamics known as Pacejka Magic Tire model. The armored vehicle model is developed using three main inputs of a vehicle system which are Pitman arm steering system, Powertrain system and also hydraulic assisted brake system. Several testings in lateral and longitudinal direction are performed such as double lane change, slalom, step steer and sudden acceleration and sudden braking to verify the vehicle model. The armored vehicle model is verified using validated software, CarSim, using HMMWV vehicle model as a benchmark. The verification responses show that the developed armored vehicle model can be used for both lateral and longitudinal direction analysis
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Papers by Khisbullah Hudha