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All Journal International Journal of Electrical and Computer Engineering International Journal of Power Electronics and Drive Systems (IJPEDS) TELKOMNIKA (Telecommunication Computing Electronics and Control) Semesta Teknika WARTA Proceeding of the Electrical Engineering Computer Science and Informatics Journal of Robotics and Control (JRC) Indonesian Journal of Electrical Engineering and Computer Science
Iswanto Iswanto
Universitas Muhammadiyah Yogyakarta
Aerospace Engineering Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

 1 
Implementation Kinematics Modeling and Odometry of Four Omni Wheel Mobile Robot on The Trajectory Planning and Motion Control Based Microcontroller Dhiya Uddin Rijalusalam; Iswanto Iswanto
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25121

Abstract

The control of kinematic modeling in a four wheel omni-directional robot (FWOR) is very difficult. Because you have to adjust the speed of the four DC motors. The speed of DC motors is controlled so that the FWOR robot can be controlled. This paper will explain the application of kinematic modeling of four wheel omni directional robots as track tracking controllers and microcontroller based movement control. Kinematic is the study of robot motion based on geometric structure analysis of a stationary / moving reference coordinate frame system without considering the force, torque or certain moments that cause movement. By applying kinematic modeling and calculation of the odometric system as feedback, the control of the robot trajectory movement can be controlled with precision in accordance with the path planning that has been made. The robot track control technique is embedded in a 32-bit ARM microcontroller. The path planning system and observing robot movement are carried out using a friendly graphic interface using Processing to facilitate the robot monitoring process. The results of the experiments and tests carried out, the system is able to control the rate of movement of the robot with great precision in accordance with the path planning made.
Second Order Integral Fuzzy Logic Control Based Rocket Tracking Control Iswanto Iswanto; Irfan Ahmad
Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.26142

Abstract

Fuzzy logic is a logic that has a degree of membership in the vulnerable 0 to 1. Fuzzy logic is used to translate a quantity that is expressed using language. Fuzzy logic is used as a control system because this control process is relatively easy and flexible to design without involving complex mathematical models of the system to be controlled. The purpose of this paper is to present a fuzzy control system implemented in a rocket tracking control system. The fuzzy control system is used to keep the rocket on track and traveling at a certain speed. The signal from the fuzzy logic control system is used to control the rocket thrust. The fuzzy Logic System was chosen as the controller because it is able to work well on non-linear systems and offers convenience in program design. Fuzzy logic systems have a weakness when working on systems that require very fast control such as rockets. With this problem, fuzzy logic is modified by adding second-order integral control to the modified fuzzy logic. The proposed algorithm shows that the missile can slide according to the ramp path at 12 m altitude of 12.78 at 12 seconds with a steady-state error of 0.78 under FLC control, at 10 m altitude of 10.68 at 10 seconds with a steady-state error of 0.68 with control integral FCL, at a height of 4 m is 4.689 at 4 seconds with a steady-state error of 0.689 with a second-order integral control of FCL. The missile can also slide according to the parabolic path with the second-order integral control of FCL at an altitude of 15.47 in the 4th minute with a steady-state error of 0.
Co-Authors Adha Imam Cahyadi Adhianty Nurjanah Alfian Ma’arif Andi Supriyanto Apriani, Yosi Aris Budiman Aris Widyo Nugroho Bilah Kebenaran Dheny Haryanto Dhiya Uddin Rijalusalam Dwi Verdy Firmansyah Eka Firmansyah Faaris Mujaahid Ibnu Faishal Imam Pambudi Irfan Ahmad Karisma Trinanda Putra Nia Maharani Raharja Nia Maharani Raharja Noor Pratama Apriyanto Nur Mukhammad Zaidatur Rochman Oyas Wahyunggoro Prisma Megantoro Rofiq Mubarok Rohmansyah Suripto, Slamet Tatiya Padang Tunggal Umniyatul Mahmudah Wahyu Sari Agustiningsih