Parlina, Soraya (2016) Kontrol Kecepatan Pada Robot Pendulum Terbalik Beroda Dua Menggunakan Kontroler Fuzzy. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Robot pendulum terbalik beroda dua merupakan salah satu tipe
pendulum terbalik yang memiliki perilaku tidak stabil dan tidak linear.
Robot ini tidak dapat mempertahankan kecepatan gerak dan sudut
kemiringan batang pendulum konstan secara serentak, dikarenakan
keberadaan gravitasi. Sudut kemiringan batang pendulum dapat
mengubah-ubah kecepatan gerak robot. Berdasarkan permasalahan
tersebut, untuk mempertahankan keseimbangan sudut pendulum
digunakan kontroler fuzzy berbasis model Takagi-Sugeno (T-S) yaitu
Fuzzy Balanced Standing Control (FBSC). Aturan kontroler disusun
menggunakan prosedur Parallel Distributed Compensation (PDC)
dengan metode penempatan kutub. Untuk membuat robot bergerak
dengan kecepatan gerak konstan yang diinginkan, digunakan kontroler
Fuzzy Constant Velocity Control (FCVC) berbasis arsitektur Mamdani.
Hasil simulasi menunjukkan bahwa robot mampu mengikuti nilai
referensi kecepatan gerak konstan sehingga robot dapat bergerak dengan
kecepatan gerak konstan sambil mempertahankan keadaan seimbang
batang pendulum robot di sekitar 0 radian. Respons kecepatan gerak
konstan masih mengalami overshoot.
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Two-wheeled inverted pendulum robot is kind of inverted
pendulum which has unstable and nonlinear behaviors. This robot
cannot keep constant velocity and constant angle of pendulum
simultaneously, due to the presence of gravity. The angle of pendulum
can vary the moving velocity of robot. Based on the problem, the
Takagi-Sugeno (T-S) model-based fuzzy controler is used to keep the
stability of the angle of pendulum i.e. Fuzzy Balanced Standing Control
(FBSC). The rule of controller is arranged by using Parallel Distributed
Compensation (PDC) procedure with pole placement method. To make
robot moves with the desired constant velocity, Fuzzy Constant Velocity
Control (FCVC) controller is based on architecture of Mamdani is used.
The results of simulation show that, by using a combination of FCVC
and FBSC controller, two-wheeled inverted pendulum robot ables to
follow constant velocity reference, so that the robot can move with
constant velocity while keeping the pole of pendulum balanced around 0
radians. The response of velocity still has overshoot.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 621.316 298 323 Par k |
| Uncontrolled Keywords: | fuzzy Mamdani; fuzzy Takagi-Sugeno; parallel distributed compensation; penempatan kutub; sistem robot pendulum terbalik beroda dua; parallel distributed compensation; pole placement; two-wheeled inverted pendulum robot system. |
| Subjects: | Q Science > QA Mathematics > QA248_Fuzzy Sets T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Anis Wulandari |
| Date Deposited: | 17 May 2017 05:13 |
| Last Modified: | 27 Dec 2018 04:08 |
| URI: | http://repository.its.ac.id/id/eprint/41303 |
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