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All Journal (JELIKU) Jurnal Elektronik Ilmu Komputer Udayana Journal of Robotics and Control (JRC)
Wahyuadnyana, Kadek Dwi
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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“MAX” Robot Pintar Berpendingin Mesin Dengan Sensor Suhu LM35 Berbasis Arduino UNO328P Wahyuadnyana, Kadek Dwi; Wibawa, I Made Satriya
JELIKU (Jurnal Elektronik Ilmu Komputer Udayana) Vol 7 No 4 (2019): JELIKU Volume 7 No 4, Mei 2019
Publisher : Informatics Department, Faculty of Mathematics and Natural Sciences, Udayana University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24843/JLK.2019.v07.i04.p13

Abstract

It has been successfully created a robot named "MAX". MAX Robot uses 2 (two) main sensors, those are ultrasonic sensors as sensors that detect an objects and LM35 temperature sensors as sensors to detect and monitor the temperature of the robotic machines. Both sensors are connected and controlled by ATMega328P microcontroller based Arduino Uno. The results of the readings from the temperature sensor on the robot's body will be displayed to the Light Crystal Display (LCD). The MAX robot is able to detect objects effectively at a distance of ±25 cm, then the robot stops and then turns in a certain direction by considering the distance of the object around the robot body. If a barrier is not detected, the MAX robot runs straight. In addition, the MAX robot is also able to detect and monitor engine temperature on its own and is able to automatically activate engine coolers when the engine temperature is above the set – point (hot) and non-active again when the engine is in normal temperature.
Performance Analysis of PID and SMC Control Algorithms on AUV under the Influence of Internal Solitary Wave in the Bali Deep Sea Wahyuadnyana, Kadek Dwi; Indriawati, Katherin; Darwito, Purwadi Agus; Aufa, Ardyas Nur; Tnunay, Hilton
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23800

Abstract

Autonomous Underwater Vehicles (AUVs) play a crucial role in deep-sea exploration, but their stability is often compromised by Internal Solitary Waves (ISWs) and nonlinear disturbances in stratified waters. This study aims to evaluate the performance of two control algorithms, Proportional-Integral-Derivative (PID) and Sliding Mode Control (SMC), in mitigating ISW effects on AUV trajectory tracking. Simulations were conducted in Simulink (MATLAB), modeling AUV dynamics under ISW disturbances with intensities ranging from 0% to 100%. The results reveal that both PID and SMC algorithms experience significant performance degradation as ISW intensity increases, with Root Mean Square Error (RMSE) values rising exponentially between 50% and 75% disturbance levels. While SMC offers better resilience to nonlinear disturbances than PID, neither algorithm fully compensates for high ISW intensities. These findings highlight the limitations of conventional control strategies and underscore the need for more robust, adaptive algorithms for reliable deep-sea AUV operations. Future work will explore Nonlinear Model Predictive Control (NMPC) for improved stability in complex marine environments.
Co-Authors Aufa, Ardyas Nur Hilton Tnunay, Hilton Katherin Indriawati Purwadi Agus Darwito Satriya Wibawa, I Made