Perancangan Kontrol Fuzzy-Lqr Untuk Tracking Robot Pendulum Terbalik Beroda Dua Model Segway

Hasan, Farid Zainul (2016) Perancangan Kontrol Fuzzy-Lqr Untuk Tracking Robot Pendulum Terbalik Beroda Dua Model Segway. Undergraduate thesis, Institut Teknologi Sepuluh Nopember Surabaya.

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Abstract

Robot pendulum terbalik beroda dua model segway merupakan sistem yang tidak stabil dan non-linier. Sistem kontrol dibutuhkan untuk menstabilkan dan menjaga robot dapat setimbang di daerah 0 radian. Pada penelitian tugas akhir ini membahas desain kontrol tracking robot pendulum terbalik beroda dua model segway dengan metode fuzzy-LQR kontroler agar sistem dapat bergerak mengikuti sinyal referensi dan dapat mempertahankan posisi robot tegak lurus. Sinyal referensi dalam tahapan simulasi sistem menggunakan sinyal step. Model non-linier dari sistem robot pendulum terbalik dapat direpresentasikan dengan model fuzzy Takagi-Sugeno untuk beberapa kondisi mula, kemudian untuk kontrol state feedback disusun menggunakan kontrol optimal. Hasil simulasi menunjukkan bahwa posisi robot pendulum terbalik model segway dapat mengikuti sinyal refensi step, sedangkan sudut dari robot berada disekitar 0 radian dengan settling time 2 detik ================================================================================================== The inverted pendulum robot models two-wheeled is a system that is unstable and nonlinear. The control system is needed to stabilize and maintain the robot in equilibrium at 0 radians region. In this final project discusses the design of inverted pendulum robot control tracking two-wheeled Segway models with fuzzy-LQR controller for the system to move to follow the reference signal and the robot can maintain an upright position. Signal reference in simulation system using a signal step. Non-linear models of inverted pendulum robot system can be represented by Takagi-Sugeno fuzzy model for some conditions first, and then to control state feedback optimal control use prepared. The simulation results showed that the inverted pendulum robot position Segway models can follow the signal reference step, while the angle of the robot was around 0 radians with a settling time of 2 seconds

Item Type: Thesis (Undergraduate)
Additional Information: RSE 629.801 511 313 Has p
Uncontrolled Keywords: Fuzzy-LQR kontrol, Segway, Tracking control
Subjects: Q Science > QA Mathematics > QA9.64 Fuzzy logic
T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: EKO BUDI RAHARJO
Date Deposited: 13 May 2020 04:28
Last Modified: 13 May 2020 04:28
URI: https://repository.its.ac.id/id/eprint/75976

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