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ITS » Paper and Presentation » Matematika
Posted by dee@its.ac.id at 08/08/2012 15:19:15  •  1696 Views


ESTIMASI POSISI ROBOT BERODA DUA DENGAN PENDULUM TERBALIK MENGGUNAKAN METODE ENSEMBLE KALMAN FILTER

ESTIMATION POSITION OF TWO WHEELS INVERTED PENDULUM MOBILE USING ENSEMBLE KALMAN FILTER METHOD

Author :
DHARMAWAN, ADITYA ( 1206100032 )




ABSTRAK

Robot Beroda Dua dengan Pendulum terbalik atau yang biasa disebut dengan Two Wheels Inverted Pendulum Mobile Robot adalah robot yang cara kerjanya seperti pendulum terbalik. Banyak penelitian tentang robot beroda dua dengan pendulum terbalik salah satunya adalah di bidang penentuan atau estimasi posisi robot pada lintasan. Hal ini sangat berguna agar robot tersebut dapat mengikuti lintasan yang ada dengan posisi yang tepat tidak keluar dari lintasan. Oleh karena itu dibutuhkan suatu metode untuk mengestimasi posisi robot tersebut agar dapat berjalan mengikuti lintasan yang telah ditentukan. Dalam tugas akhir ini dilakukan estimasi posisi robot beroda dua dengan pendulum terbalik menggunakan metode Ensemble Kalman Filter EnKF. Dimana metode Ensemble Kalman Filter EnKF dipilih karena metode ini dapat digunakan untuk mengestimasi model dinamik linear maupun model dinamik non linear.


ABSTRACT

The Two Wheeled robot with inverted pendulum or commonly called as Two Wheels Inverted Pendulum Mobile Robot is a robot which its works is like a inverted pendulum. There are many research about this two-wheeled robot with inverted pendulum one of which is in the 64257eld of the determination or estimation of robot position on the track. This is very useful so that the robot can follow the existing path with the right position not out of the way. Therefore we need a method to estimate the position of the robot to run follow a predetermined trajectory. In the final position a two-wheeled robot inverted pendulum was estimated by using the Ensemble Kalman Filter EnKF. Which Ensemble Kalman Filter EnKF method was chosen because this method can be used to estimate a linear dynamic model and non linear dynamic models.



KeywordsEstimation position; Two wheels inverted pendulum mobile; Ensemble Kalman Filter
 
Subject:  Kalman filtering
Contributor
  1. Subchan, M.Sc, Ph.D
  2. DR. Erna Apriliani, M.Sc
Date Create: 06/02/2012
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-paper-12021120000656
Collection ID: 12021120000656
Call Number: RSMa 518.1 Dha e


Source
Paper and Presentation of Mathematics, RSMa 518.1 Dha e, 2012

Coverage
ITS Community

Rights
Copyright @2012 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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ITS-paper-12021120000656-20512.pdf




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