Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay /
Azrul Azim Bin Abdullah Hashim,
Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay / Azrul Azim Abdullah Hashim - xii, 91 pages : illustrations ; 30 cm. + 1 CD-COM.
Faculty of Electrical & Electronics Engineering Technology
Thesis (Master of Science) -- Universiti Malaysia Pahang - 2026
Includes bibliographical references
Sitting in traffic congestion often requires drivers to continuously press and release the pedal, leading to significant leg and back fatigue with potential long-term health implications. This thesis aims to model and develop a control system that utilizes a linear actuator to replace the manual leg activities involved in pressing and releasing the vehicle pedal. The study explores two fundamental approaches to enhancing control systems for linear actuators in vehicles. The first approach integrates a PID controller within the Simscape environment to regulate vehicle speed through precise pedal force application. The second approach utilizes a data-driven technique, where system dynamics are modelled using real-world data through Matlab’s System Identification Toolbox. The comparative analysis indicates that the PID controller tuned with the Spiral Sine Cosine Algorithm (SSCA) achieves faster convergence, stabilizing within 15 iterations compared to 40 iterations for the Spiral Dynamic Algorithm (SDA). In simulations, SSCA shows better steady-state accuracy and reduces settling time by 12%. In hardware-in-the-loop (HIL) testing, SSCA provides enhanced stability, particularly at 250 N, where it minimizes oscillations compared to SDA, which struggles with position tracking issues. While SDA performs better in overshoot, with 3.82% compared to SSCA's 4.80%, its limitations in real-time control make SSCA a more reliable choice for precise actuator control. This research advances linear actuator and force sensor technologies, offering effective solutions for managing pedal and vehicle speed.
THE0009495 (Local)
Faculty of Electrical & Electronics Engineering Technology--Dissertations
Universities and colleges--Dissertations
Theses--Dissertations
Integrated modelling and control of linear actuator based automatic pedal pressing mechanism for low-speed driving in a road traffic delay / Azrul Azim Abdullah Hashim - xii, 91 pages : illustrations ; 30 cm. + 1 CD-COM.
Faculty of Electrical & Electronics Engineering Technology
Thesis (Master of Science) -- Universiti Malaysia Pahang - 2026
Includes bibliographical references
Sitting in traffic congestion often requires drivers to continuously press and release the pedal, leading to significant leg and back fatigue with potential long-term health implications. This thesis aims to model and develop a control system that utilizes a linear actuator to replace the manual leg activities involved in pressing and releasing the vehicle pedal. The study explores two fundamental approaches to enhancing control systems for linear actuators in vehicles. The first approach integrates a PID controller within the Simscape environment to regulate vehicle speed through precise pedal force application. The second approach utilizes a data-driven technique, where system dynamics are modelled using real-world data through Matlab’s System Identification Toolbox. The comparative analysis indicates that the PID controller tuned with the Spiral Sine Cosine Algorithm (SSCA) achieves faster convergence, stabilizing within 15 iterations compared to 40 iterations for the Spiral Dynamic Algorithm (SDA). In simulations, SSCA shows better steady-state accuracy and reduces settling time by 12%. In hardware-in-the-loop (HIL) testing, SSCA provides enhanced stability, particularly at 250 N, where it minimizes oscillations compared to SDA, which struggles with position tracking issues. While SDA performs better in overshoot, with 3.82% compared to SSCA's 4.80%, its limitations in real-time control make SSCA a more reliable choice for precise actuator control. This research advances linear actuator and force sensor technologies, offering effective solutions for managing pedal and vehicle speed.
THE0009495 (Local)
Faculty of Electrical & Electronics Engineering Technology--Dissertations
Universities and colleges--Dissertations
Theses--Dissertations