Desain Fuzzy-PID Controller untuk Pengaturan Path Tracking Holonomic Mobile Robot pada Permukaan Gesek

Rafy, Muhammad Rayhan (2024) Desain Fuzzy-PID Controller untuk Pengaturan Path Tracking Holonomic Mobile Robot pada Permukaan Gesek. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Dalam dua dekade terakhir ini, holonomic mobile robot mendapatkan perhatian yang tinggi dari para peneliti karena kebergunaaannya dalam pekerjaan sehari-hari. Pengaturan pengikutan jalur (path tracking) menjadi salah satu topik utama dalam penelitian holonomic mobile robot. Salah satu permasalahan utama dari path tracking holonomic mobile robot adalah model dinamikanya yang kompleks. Permasalahan ini menjadi lebih kompleks ketika mobile robot tersebut bergerak pada permukaan gesek dengan koefisien gesek yang berbeda-beda. Hal ini menyebabkan ketidakmungkinan pengaturan path tracking menggunakan kontroler konvensional. Kontroler Fuzzy Logic dengan prinsip kerja rule¬-nya yang knowledge based dan tidak memerlukan pemodelan sistem yang akurat menjadi solusi yang cocok untuk masalah ini. Ketika kontroler ini digunakan bersamaan dengan PID, kontroler Fuzzy mampu mengubah nilai parameter PID seiring dengan berubahnya permukaan gesek yang dilalui mobile robot. Dengan demikian, kontroler Fuzzy-PID akan dirancang dan disimulasikan pada holonomic mobile robot di permukaan gesek datar hingga mencapai performa path tracking yang diinginkan. Rancangan kontroler ini diuji dengan variasi lintasan dan koefisien gesek permukaan datar seperti permukaan karet, keramik, dan karpet. Respon rancangan ini bandingkan dengan respon kontroler lain. Berdasarkan hasil simulasi, kontroler Fuzzy-PID telah berhasil melakukan path tracking pada holonomic mobile robot. Hal ini dilihat dari data-data pengujian yang menunjukkan robot dapat mencapai tujuan pada semua lintasan permukaan uji. Kontroler Fuzzy-PID juga ditunjukkan dapat mengatur path tracking lebih baik daripada kontroler lainnya.
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Over the past two decades, holonomic mobile robots have gained more and more attraction among researchers because of their usefulness in day-to-day life. Control of its path tracking has been a main topic in holonomic mobile robot research. This research will show the Fuzzy-PID Controller on path tracking of a holonomic mobile robot. One of the main problems in holonomic mobile robot path tracking is its complex dynamic mathematical model. This problem becomes even more complex when the mobile robot moves on friction surfaces with different values of friction coefficient. Thus, the problem becomes impossible to solve using a conventional controller. Fuzzy Logic Controller which works with rule principles that is knowledge-based and does not require an accurate model becomes the suitable choice to solve this problem. Combining this controller with PID, the fuzzy controller can change PID’s parameter as friction surfaces that the mobile robot is moving on change. Thus, the Fuzzy-PID controller is designed and simulated for a holonomic mobile robot on flat friction surfaces until it reaches the desired performance. This desired controller is simulated with path and friction surface variations such as rubber, floor, and carpet. The response of the designed controller will be compared to other controllers. Based on the results of the simulation, the Fuzzy-PID controller has succeeded to control path tracking for a holonomic mobile robot. This is seen in simulation data which shows the robot is able to reach its goals on all surfaces. Fuzzy-PID controller is also shown to be able to control path tracking better than other controllers

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Logic Controller, Holonomic Mobile Robot, Path Tracking
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Rayhan Rafy
Date Deposited:	29 Jul 2024 07:27
Last Modified:	29 Jul 2024 07:27
URI:	http://repository.its.ac.id/id/eprint/109948

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