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Sistem Kontrol pada Automated Guided Vehicle Beroda Mekanum menggunakan Sliding Mode Controller Muhammad Faiz; Bambang Sumantri; Bima Sena Bayu Dewantara
Jurnal Rekayasa Elektrika Vol 19, No 1 (2023)
Publisher : Universitas Syiah Kuala

The production in industry, are involving distribution to transport the goods. Recently, distribution activities are using unmanned vehicle, that is Automated Guided Vehicle (AGV). In real condition, AGV are facing environment with complexity of high uncertainity and unlinearity. Because of this, robust control method could be considered to be used to improve the control performance. For instance, Sliding Mode Control has good robustness to the uncertainity of the system and disturbances. However, the chattering phenomenon is one of the major issues of the sliding mode control. This phenomenon could damage the motor. This research aim to reduce chattering and improve the control performance, with modifying signum function to saturation function. This research are using ROS, V-Rep and microcontroller. Microcontroller for processing algorithm and another function. Moreover, saturation function had succcessfully reducing rise time about 30%, overshoot 16% and RMSE 0.21%.

Robot Keseimbangan Beroda Dua dengan Sistem Kontrol Keseimbangan dan Posisi Menggunakan Metode PID Bertingkat Niam Tamami; Ibrahim Muhammad Diin; Bambang Sumantri; Endra Pitowarno
Jurnal Rekayasa Elektrika Vol 14, No 3 (2018)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v14i3.11939

The two-wheeled balancing robot is a robot that will maintain its balance to stay upright by using two wheels. This robot cannot be stable when the condition is upright and requires a control mechanism when moving. There are at least two control mechanisms in this robot, first is balance control, and the second is position control. The cascade PID method is proposed as a control mechanism, which consists of balance control as primary control and position control (distance and direction) as a secondary control. This method has been applied to robots. Based on the first, second, and third experiment, the best configuration of cascade PID control is PID for the balance control block, PD for distance control, and PD for direction control. By using cascade PID control, the two-wheeled balancing robot has been able to balance itself with oscillations ranging from ± 15.00 degrees when moving and it can move towards the ordered position with the error position from the target. Fourth experiment position error is (0.17, -0.26) and (0.45, -0.43) for the fifth experiment.

Sistem Keseimbangan Robot ERISA Pada Bidang Miring Menggunakan Kontrol PD dan Sensor Fusion Novian Fajar Satria; Ali Husein Alasiry; Bambang Sumantri; Risma Dian Alamri
Jurnal Rekayasa Elektrika Vol 17, No 3 (2021)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v17i3.18762

The world of robotics is currently developing; many robots are created to help humans work in carrying out daily activities. Various types of robots have been created, one of which is a type of robot that resembles a human body (humanoid). Humanoid robots are developing in many countries, including Indonesia. In its development, the walking technique is a major factor in making humanoid robots. Humanoid robots have the ability to walk like humans by balancing their body positions while walking, so they don’t fall. In maintaining this balance, a tilt detection system for the robot’s position and a balancing system is needed when the robot is about to fall. So, to overcome this problem, implementation is carried out using the sensor fusion method at the output of the sensors that are used to minimize noise or interference with the sensor output value. The accuracy of the sensor output value on the position angle tilt detector can help the robot provide a balancing act. By implementing a PD control system and sensor fusion consisting of a Kalman filter and a complementary filter, the robot was successfully carried up and down the plane to a maximum slope of 12 °.

Sistem Kontrol pada Automated Guided Vehicle Beroda Mekanum menggunakan Sliding Mode Controller Muhammad Faiz; Bambang Sumantri; Bima Sena Bayu Dewantara
Jurnal Rekayasa Elektrika Vol 19, No 1 (2023)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v19i1.28127

The production in industry, are involving distribution to transport the goods. Recently, distribution activities are using unmanned vehicle, that is Automated Guided Vehicle (AGV). In real condition, AGV are facing environment with complexity of high uncertainity and unlinearity. Because of this, robust control method could be considered to be used to improve the control performance. For instance, Sliding Mode Control has good robustness to the uncertainity of the system and disturbances. However, the chattering phenomenon is one of the major issues of the sliding mode control. This phenomenon could damage the motor. This research aim to reduce chattering and improve the control performance, with modifying signum function to saturation function. This research are using ROS, V-Rep and microcontroller. Microcontroller for processing algorithm and another function. Moreover, saturation function had succcessfully reducing rise time about 30%, overshoot 16% and RMSE 0.21%.

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