Trajectory Tracking Nonholonomic Mobile Robot Menggunakan Metode Fuzzy dan Feedback Linearization

Sasmito, Atmo (2022) Trajectory Tracking Nonholonomic Mobile Robot Menggunakan Metode Fuzzy dan Feedback Linearization. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Permasalahan yang sering dijumpai pada mobile robot adalah trajectory tracking. Trajectory tracking adalah kunci untuk menggerakkan mobile robot secara otonom, oleh karenanya dibutuhkan desain kontrol agar mobile robot dapat bergerak mengikuti lintasan yang diinginkan dengan nilai error yang kecil. Penelitian tugas akhir ini mengembangkan penggabungan kontrol fuzzy dan metode feedback linearization secara cascade untuk menyelesaikan permasalahan tracking pada nonholonomic mobile robot. Feedback linearization digunakan untuk mengeliminasi bentuk non-linier pada bagian dinamika sistem sedangkan kontrol fuzzy digunakan pada bagian kinematika mobile robot. Desain kontrol dengan metode ini akan diuji dengan variasi lintasan yang berbeda. Hasil dari simulasi yang dilakukan menunjukkan bahwa, desain kontrol pada mobile robot untuk permasalahan tracking berhasil menggerakkan mobile robot mengikuti trajectory yang diberikan dengan baik serta nilai error yang rendah.
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The problem that frequently occurs in mobile robot is trajectory tracking. Trajectory tracking is the key to make mobile robot moves autonomously, therefore a control design is needed so the mobile robot can move along the desired trajectory with a small error value. This final project research develops a combination of fuzzy control and feedback linearization method in cascade scheme to solve tracking problems in nonholonomic mobile robots. Feedback linearization is used to eliminate non-linear forms in the dynamic parts of the system, while fuzzy control is used in the kinematic parts in the mobile robot. The control design with this method will be tested with various trajectories. The results of simulations show that the proposed control design for mobile robot tracking problems is successful in making mobile robot move to follow the given trajectory well and with a low error value.

Item Type:	Thesis (Other)
Additional Information:	RSE 629.892 Sas t-1 2022
Uncontrolled Keywords:	Trajectory Tracking, Fuzzy, Feedback Linearization, Mobile Robot
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Anis Wulandari
Date Deposited:	03 Jul 2024 04:47
Last Modified:	03 Jul 2024 04:47
URI:	http://repository.its.ac.id/id/eprint/108108

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