Nabila, Auliya (2021) Trajectory Tracking Nonholonomic Mobile Robot Dengan Input Constraint Berdasarkan Pendekatan LMI. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Nonholonomic Mobile Robot (NMR) merupakan moda transportasi yang banyak digunakan dalam industri. Untuk mencapai fleksibilitas dalam menjalankan tugasnya, maka dibutuhkan sistem kontrol yang memadai dalam pengaturan transportasi sehingga banyak digunakan sebagai objek penelitian. NMR digerakkan oleh aktuator dengan torsi yang terbatas sehingga besarnya sinyal kontrol selalu dibatasi. Untuk menyelesaikan permasalahan ini maka dirancang dua kontroler, yaitu kontroler kinematika dan kontroler dinamika.
Kontroler kinematika dirancang agar kecepatan tambahan konvergen ke kecepatan yang diinginkan. Kontroler dinamika dirancang menggunakan performansi.
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Nonholonomic Mobile Robot (NMR) is a mode of transportation that is
widely used in industry. To achieve flexibility in carrying out its duties, an
adequate control system is needed in transportation arrangements so that it is used
as an object of research. NMR is driven by an actuator with limited torque which
the magnitude of the control signal is always limited. To solve this problem two
controllers were designed, kinematics controller and dynamics controller.
A kinematic controller is designed so that the additional speed converges
to the desired speed, and the dynamic controller is designed using
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | NMR, batasan sinyal kontrol, performansi |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1007 Electric power systems control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Auliya Nabila |
| Date Deposited: | 26 Feb 2021 20:44 |
| Last Modified: | 26 Feb 2021 20:44 |
| URI: | http://repository.its.ac.id/id/eprint/82937 |
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