Perancangan Kontrol Direct-Drive Robot Arm Dengan Menggunakan Sliding Mode Control

Imran, Imil Fadli (2017) Perancangan Kontrol Direct-Drive Robot Arm Dengan Menggunakan Sliding Mode Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Robot lengan direct-drive arm memiliki sistem dinamik nonlinear berupa fungsi inersia dan central coriolis dan gangguan berupa pengaruh gaya gesekan dan gravitasi. Pada penelitian ini sliding mode control dirancang untuk mengendalikan robot lengan agar dapat bergerak sesuai dengan posisi dan kecepatan yang diinginkan. Pada penelitian ini dilakukan perancangan sliding mode control pada robot lengan direct-drive arm secara matematis kemudian dilakukan penghitungan kestabilan sistem dengan menggunakan metode Lyapunov. Untuk memverifikasi sistem kendali yang dirancang dilakukan simulasikan pada Simulink Matlab. Berdasarkan hasil simulasi, sliding mode control mampu mengontrol posisi dan kecepatan robot lengan secara asimptotik. Error yang didapat sangat kecil yaitu 0.000875 (error posisi) dan 0.001295 (error kecepatan) untuk set point konstan, 0.000435 (error posisi) dan 0.001032 (error kecepatan) untuk set point sinusoidal, 0.004345 (error posisi) dan 0.005207 (error kecepatan) untuk set point kondisi awal beda. Robot lengan memiliki akurasi pergerakan yang lebih tinggi saat gain k=100 dibandingkan pada saat gain k=0,1 , akan tetapi proses simulasi saat k=0,1 lebih cepat dibandingkan saatk=100.

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Direct-drive robot arm has nonlinear dynamics such as functions of inertia and coriolis and disturbances such as the effects of friction and gravitation. In this reserach, sliding mode control is developed to control the robot arm to follow the desired position and velocity. In this resrearch, sliding mode control is proposed to maintain direct-drive arm robot, then Lyapunov stability theorem is applied to analyze the stability. Simulink Matlab is used for simulation in order to verify the proposed control design. Based on simulation results, sliding mode control is able to stabilize robot arm asymptotically. Error system are 0.000875 and 0.001295 for error position and velocity respectively, where set point is constant 1. For desired trajectories are in the form of sinusoidal, the error systems are 0.000435 and 0.001032 for error position and velocity respectively, where the initial conditions of both arms are equal. In the case of different initial conditions, the error systems are 0.004345 and 0.005207 for error position and velocity respectively. The accuracy of controller is higher for k = 100 compared to k = 0.1, however the simulation process for k = 0.1 is faster than k = 100.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Robot lengan direct-drive arm; sliding mode nontrol; metode Lyapunov; Direct drive robot arm; sliding mode control; Lyapunov method
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Anis Wulandari
Date Deposited:	12 May 2017 06:25
Last Modified:	27 Dec 2017 01:49
URI:	http://repository.its.ac.id/id/eprint/41256

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