Moh Kamalul Wafi
@its.ac.id
Department of Engineering Physics
Institut Teknologi Sepuluh Nopember (ITS)
RESEARCH INTERESTS
I have been keen with distributed estimation, control and dynamic on large-scale systems, robust control, fault-tolerance control & fault-detection and optimization. I have been with laboratory of embedded and cyber-physical systems, Department of Engineering Physics, Institut Teknologi Sepuluh Nope
Scopus Publications
Scopus Publications
Moh Kamalul Wafi, Rozhin Hajian, Bahram Shafai, and Milad Siami
IEEE
The rapid advancement of automatic control technology has sparked significant interest among researchers in creating more reliable and simplified models of unmanned aerial vehicles (UAVs). This interest is motivated by the need to enhance the performance and resilience of these systems in challenging conditions, such as wind gusts and adverse weather. This paper presents novel strategies for enhancing the resilience of unmanned aerial systems (UAS) with fault-tolerant control (FTC) by learning-oriented control and a constructive fault estimation with Proportional-Integral (PI) observer. The learning-control is deep-deterministic policy gradient (DDPG) which is trained in only one state but used beyond its environment for other states to control. The faults are designed in three divergent conditions and the augmented PI observer is responsible in capturing them. The success of estimating the faults is used for this FTC to compensate the faulty system with learning-oriented control as the advancement of the FTC. The proposed approach has the potential to enhance the performance and resilience of UAVs, thus contributing to the development of more robust and reliable systems.
B. L. Widjiantoro, M. Wafi and K. Indriawati
The concerns to autonomous vehicles have been becoming more intriguing in coping with the more environmentally dynamics non-linear systems under some constraints and disturbances. These vehicles connect not only to the self-instruments yet to the neighborhoods components, making the diverse interconnected communications which should be handled locally to ease the computation and to fasten the decision. To deal with those interconnected networks, the distributed estimation to reach the untouched states, pursuing sensorless design, is approached, initiated by the construction of the modified pseudo measurement which, due to approximation, led to the weighted average consensus calculation within unscented filtering along with the bounded estimation errors. Moreover, the tested vehicles are also associated to certain robust control scenarios subject to noise and disturbance with some stability analysis to ensure the usage of the proposed estimation algorithm. The numerical instances are presented along with the performances of the control and estimation method. The results affirms the effectiveness of the method with limited error deviation compared to the other centralized and distributed filtering. Beyond these, the further research would be the directed sensorless design and fault-tolerant learning control subject to faults to negate the failures.
Moh Kamalul Wafi
Author(s)
The scope of satellite has increasingly attained as one of the most challenging topics due to the attraction of elaborating the outer space. The satellite, as a means of collecting data and communicating, needs a proper calculation so as to maintain the movement and its appearance. The concept of the proposed research lies in the mathematical model along with certain noises. The mathematical model is started by initial two variable states, constituting a radius and an angle, with no process noise on it. These two states then are formulated with certain assumption of noises in terms of the range and the scaled angle deviations from them in turn. Keep in mind that those two noises are mutually-independent and their covariance are considered. the model is defined as Algebraic Riccati Equation (ARE) along with Kalman filter algorithm, from the estimation, the steady-state estimator, the computational of gain matrix to the stability of the predictor. The findings show that, as for the two pairs of states, the performance of the estimation can follow the state with just slight fluctuations in the first a fifth of a thousand iterations. With respect to the Mean Square Error (MSE), both noises are around 0.2 for the four states.The scope of satellite has increasingly attained as one of the most challenging topics due to the attraction of elaborating the outer space. The satellite, as a means of collecting data and communicating, needs a proper calculation so as to maintain the movement and its appearance. The concept of the proposed research lies in the mathematical model along with certain noises. The mathematical model is started by initial two variable states, constituting a radius and an angle, with no process noise on it. These two states then are formulated with certain assumption of noises in terms of the range and the scaled angle deviations from them in turn. Keep in mind that those two noises are mutually-independent and their covariance are considered. the model is defined as Algebraic Riccati Equation (ARE) along with Kalman filter algorithm, from the estimation, the steady-state estimator, the computational of gain matrix to the stability of the predictor. The findings show that, as for the two pairs of states, the ...