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ITS » Undergraduate Theses » Telekomunikasi Multimedia
Posted by aprill@is.its.ac.id at 31/08/2015 18:25:38  •  1326 Views


LABORATORIUM VIRTUAL UNTUK TRACKING ROBOT PENDULUM TERBALIK BERODA DUA MENGGUNAKAN KONTROL FUZZY

VIRTUAL LABORATORY FOR TRACKING TWO WHEELED INVERTED PENDULUM ROBOT USING FUZZY CONTROL

Author :
WICAKSONO, YOSHIADI ( 2211106061 )




ABSTRAK

Sistem robot pendulum terbalik beroda dua merupakan sistem yang tidak stabil dan tidak linear sehingga memiliki beberapa permasalahan kontrol diantaranya adalah stabilisasi dan tracking. Untuk dapat menyelesaikan permasalahan tersebut maka dalam Tugas Akhir ini dirancang tiga buah kontroler fuzzy yaitu fuzzy Takagi-Sugeno Mamdani dan Sugeno. Selain itu dirancang juga sebuah laboratorium virtual dengan antarmuka yang interaktif dalam bentuk grafis 3D untuk mempelajari dan menguji sistem kontrol yang telah dirancang. Hasil simulasi untuk sistem kontrol menunjukkan bahwa kontroler dapat mempertahankan robot pendulum terbalik beroda dua pada sudut 0 radian dan dapat menggerakkan robot sesuai dengan posisi yang diinginkan. Sedangkan hasil simulasi untuk laboratorium virtual menunjukkan bahwa aksi robot dalam bentuk grafis 3D sesuai dengan hasil simulasi pada pengujian sistem kontrol.


ABSTRACT

Two wheeled inverted pendulum robot system is unstable and nonlinear system so it has some control problem such as stabilizing and tracking. To solve that problem in this final project fuzzy Takagi-Sugeno Mamdani and Sugeno is designed. In addition virtual laboratory is designed with an interactive interface in the form of 3D graphics for studying and verifying control system that has been designed. The simulation results for examining the control system shows that the controller can maintain two wheeled inverted pendulum robot to stabilize at angle 0 radian and can drive the robot to the desired position. The simulation results for examining the virtual laboratory shows that the action of robot in the form of 3D graphics is appropriate with the simulation results for examining the control system.



KeywordsRobot Pendulum Terbalik Beroda Dua; Laboratorium Virtual; Fuzzy Takagi-Sugeno; Mamdani; Sugeno
 
Subject:  fuzzy logic
Contributor
  1. Dr. Trihastuti Agustinah, ST., MT.
Date Create: 31/08/2015
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Undergraduate-22101150007332
Collection ID: 22101150007332
Call Number: RSE 629.892 Wic l


Source
Undergraduate Theses of Electrical Engineering, RSE 629.892 Wic l, 2015

Coverage
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Rights
Copyright @2015 by ITS Library. This publication is protected by copyright and per obtained from the ITS Library prior to any prohibited reproduction, storage in a re transmission in any form or by any means, electronic, mechanical, photocopying, reco For information regarding permission(s), write to ITS Library




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  1.  ITS-Undergraduate-38674-2211106061-abstract_id.pdf - 252 KB
  2.  ITS-Undergraduate-38674-2211106061-abstract_en.pdf - 251 KB
  3.  ITS-Undergraduate-38674-2211106061-conclusion.pdf - 252 KB




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