Kusumawardana, Arya (2017) Kompensasi Eksternal Disturbance Menggunakan Ctc Dengan Ndo Untuk Pengaturan Formasi Differential Drive Mobile Robot. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Pengaturan formasi untuk mobile robot khususnya DDMR (Differential Drive Mobile Robot) telah banyak dikembangkan, hal ini dikarenakan pengaturan multi robot akan lebih efektif dibandingkan dengan satu robot untuk menyelesaikan suatu tugas tertentu. Metode untuk pembentukan formasi sekaligus tracking trayektori menjadi fokus pengembangan penelitian tentang pengaturan formasi. Dalam tesis ini digunakan pendekatan SBC (Separation Bearing Control) dan SSC (Separation Separation Control) untuk pembentukan formasi sekaligus tracking trayektori. Metode CTC juga digunakan untuk masing-masing agent. Metode tersebut digunakan untuk menyelesaikan permasalahan dinamika dari DDMR. Selain itu untuk menyelesaikan permasalahan disturbance pada robot, pada penelitian ini menggunakan metode NDO (Nonlinear Disturbance Observer). Hasil simulasi menunjukkan bahwa penggunaan CTC dengan NDO mampu mereduksi pengaruh disturbance pada robot sehingga formasi yang telah terbentuk dapat dipertahankan sesuai kriteria yang telah ditentukan.
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Formation control for mobile robots especially DDMR (Differential Drive Mobile Robot) have been widely developed, this is because multi robot control will be more effective than that of a robot to accomplish a specific task. Methods for formation and tracking trajectory are the focus of research development on formation control. In this thesis the approach of SBC (Separation Bearing Control) and SSC (Separation Separation Control) are used to create formation and trajectory tracking. CTC method is also used for each agent. The method is used to solve the dynamic problem of DDMR. In addition, to solving the problem of disturbance in the robot, in this research use NDO (Nonlinear Disturbance Observer) method. Simulation results show that the use of CTC with NDO can reduce the effect of disturbance on the robot and the formation can be maintained according to the criteria.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.893 2 Kus k-1 3100018074192 |
| Uncontrolled Keywords: | Differential Drive Mobile Robot; Separation Bearing Control; Separation Separation Control; Computed Torque Control; Nonlinear Disturbance Observer |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Arya Kusumawardana |
| Date Deposited: | 01 Feb 2018 03:16 |
| Last Modified: | 20 Apr 2020 22:33 |
| URI: | http://repository.its.ac.id/id/eprint/49239 |
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