Trajectory Tracking Nonholonomic Mobile Robot Dengan Input Constraint Berdasarkan Pendekatan LMI

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. ======================================================================================================= 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: https://repository.its.ac.id/id/eprint/82937

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