Papers by Author: Sallehuddin Mohamed Haris

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Authors: Choon Lih Hoo, Sallehuddin Mohamed Haris
Abstract: Many industrial applications require efficient servo drives and speed control to obtain the necessary performance with respect to different applications. As time passes, artificial intelligence has grown and replaced many traditional control methods in order to attain greater robustness to uncertainties, faster dynamic response and smaller position and speed errors. This paper briefly reviews several artificial intelligence implementations in synchronous motor control systems and briefly indicates the advantages and disadvantages of each method.
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Authors: Choon Lih Hoo, Sallehuddin Mohamed Haris
Abstract: Motor control is essential for good performance especially now the servo and speed drives application has gaining much attention. Proportional-integral controller is popular among motor control but yet is mostly with preset control parameter. The proposed real-time artificial intelligence based controller is aimed for adaptive control throughout the whole motor operating condition. The proposed has improved and better speed and torque performance in constant and ramp input functions but not in the step input function and the attempt requires further research and modification for global application.
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Authors: Wajdi S. Aboud, Sallehuddin Mohamed Haris
Abstract: The main goal of using mechatronic suspensions is to improve the ride comfort and handling performance. In this work, a robust linear controller for such a system was designed based on the μ synthesis method. The performance of a model two degree of freedom quarter car with parameter perturbations, subjected to road disturbances, was simulated and the time domain responses were analyzed. The simulation results indicate that the robust controller improved the vibration isolation performance of the mechatronic suspension system, despite the presence of parameter perturbations and exogenous disturbances. When compared to both LQG active control and to a passive suspension system, the μ synthesis controller also showed super or performance.
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Authors: Shahed Shojaeipour, Sallehuddin Mohamed Haris, Ehsan Eftekhari, Ali Shojaeipour, Ronak Daghigh
Abstract: In this article, the development of an autonomous robot trajectory generation system based on a single eye-in-hand webcam, where the workspace map is not known a priori, is described. The system makes use of image processing methods to identify locations of obstacles within the workspace and the Quadtree Decomposition algorithm to generate collision free paths. The shortest path is then automatically chosen as the path to be traversed by the robot end-effector. The method was implemented using MATLAB running on a PC and tested on a two-link SCARA robotic arm. The tests were successful and indicate that the method could be feasibly implemented on many practical applications.
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