Arfiansyah, Luthfi (2016) Kontrol Tracking Optimal Untuk Robot Pendulum Terbalik Beroda Dua. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Robot pendulum terbalik beroda dua adalah robot yang memiliki
prinsip kerja seperti pendulum terbalik. Sistem robot pendulum terbalik
beroda memiliki karakteristik tidak stabil dan tidak linier. Tracking
merupakan salah satu permasalahan yang terdapat pada sistem robot
pendulum terbalik beroda dua. Kontrol tracking dilakukan agar robot
dapat bergerak sesuai dengan sinyal referensi yang diberikan dan tetap
mempertahankan kestabilan dari robot dalam posisi tegak (pada garis
vertikal imajiner 0 radian). Dari permasalahan ini maka dibuat skema
kontrol servo tipe 1 untuk keperluan tracking posisi robot pada sumbu x
dan sudut yaw dari robot. Besarnya gain dari sistem kontrol tracking
diperoleh dengan menggunakan metode kontrol optimal Linear
Quadratic Regulator. Hasil simulasi menunjukan bahwa skema kontrol
yang dirancang mampu membuat robot bergerak menuju posisi yang
diinginkan pada sumbu x dan dapat melakukan rotasi pada sumbu z (yaw)
sesuai dengan sinyal referensi yang diberikan dengan tetap menjaga
batang pendulum pada posisi tegak pada pergerakan sudut pendulum yang
terbatas. Hasil dari perancangan disimulasikan menggunakan
laboratorium virtual.
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Two-wheeled inverted pendulum robot is a robot that has a
working principle as inverted pendulum. Wheeled inverted pendulum
robot system has unstable and nonlinear characteristics. Tracking is one
of the problems that can be found in two-wheeled inverted pendulum
robot system. Tracking control is designed so that the robot can move in
accordance with a given reference signal and maintaining the stability of
the pendulum in the upright position (imaginary vertical line 0 radians).
Because of this problem, type 1 servo control scheme is designed for the
purposes of tracking the position of the robot on the x-axis and yaw angle
of the robot. The control gain of the tracking control system is obtained
by using optimal control methods, Linear Quadratic Regulator. The
simulation results show that the proposed control scheme is able to make
the robot move towards the desired position on the x axis and can rotate
about the z-axis (yaw) according to the reference signal is given and
keeping the pendulum in an upright position with limited movement of
pendulum angle. The control design proposed is simulated on virtual lab.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.801 511 313 Arf k |
| Uncontrolled Keywords: | Tracking; Sistem Servo Tipe 1; Robot Pendulum Terbalik Beroda Dua; Linear Quadratic Regulator; Type 1 Servo System; Two-Wheeled Inverted Pendulum robot |
| Subjects: | T Technology > T Technology (General) 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: | 07 Jun 2017 01:43 |
| Last Modified: | 26 Dec 2018 03:58 |
| URI: | http://repository.its.ac.id/id/eprint/41514 |
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