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All Journal Bulletin of Electrical Engineering and Informatics Jurnal Teknologi Informasi dan Ilmu Komputer E-Dimas: Jurnal Pengabdian kepada Masyarakat Jurnal ELTIKOM : Jurnal Teknik Elektro, Teknologi Informasi dan Komputer Journal of Information Technology and Computer Science Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control JMM (Jurnal Masyarakat Mandiri) SENTIA 2016 Journal of Robotics and Control (JRC) Jurnal Elkolind : Jurnal Elektronika dan Otomasi Industri Indonesian Journal of Electrical Engineering and Computer Science Journal of Applied Smart Electrical Network and System (JASENS) Jurnal Pengabdian Polinema Kepada Masyarakat International Journal of Robotics and Control Systems Jurnal Pengabdian Kepada Masyarakat Journal of Mechanical and Electrical Technology Jurnal ELTEK Asian Journal Science and Engineering Jurnal Masyarakat Madani Indonesia ELPOSYS: Jurnal Sistem Kelistrikan Jurnal Teknik Kimia dan Lingkungan Pangripta Jurnal Ilmiah Kajian Perencanaan Pembangunan Scientica: Jurnal Ilmiah Sains dan Teknologi Kohesi: Jurnal Sains dan Teknologi Jurnal ELTEK Jurnal Pengabdian Kepada Masyarakat Journal of Evrimata: Engineering and Physics IRDH International Journal of Technology, Agriculture and Natural Sciences (IRDH IJTANS)
Indrazno Siradjuddin
Politeknik Negeri Malang
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Journal : international journal of robotics and control systems

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Fish Swarmed Kalman Filter for State Observer Feedback of Two-Wheeled Mobile Robot Stabilization Ahmad Fahmi; Marizan bin Sulaiman; Indrazno Siradjuddin; Anindya Dwi Risdhayanti
International Journal of Robotics and Control Systems Vol 3, No 3 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i3.1087

Abstract

Over the past few decades, there have been significant technological advancements in the field of robots, particularly in the area of mobile robots. The performance standards of speed, accuracy, and stability have become key indicators of progress in robotic technology. Self-balancing robots are designed to maintain an upright position without toppling over. By continuously adjusting their center of mass, they can maintain stability even when disturbed by external forces. This research aims to achieving and maintaining balance is a complex task. Self-balancing robots must accurately sense their orientation, calculate corrective actions, and execute precise movements to stay upright. Eliminating disturbances and measurement noise in self-balancing robot can enhance the accuracy of their output. One common technique for achieving this is by using Kalman filters, which are effective in addressing non-stationary linear plants with unknown input signal strengths that can be optimized through filter poles and process covariances. Additionally, advanced Kalman filter methods have been developed to account for white measurement noise. In this research, state estimation was conducted using the Fish Swarm Optimization Algorithm (FSOA) to provide feedback to the controller to overcome the effects of disturbances and noise in the measurements through the designed filter. FSOA mimics the social interactions and coordinated movements observed in fish groups to solve optimization problems. FSOA is primarily used for optimization tasks where finding the global optimal solution is desired. The results show that the use of an optimized Kalman filter with FSOA on a two-wheeled mobile robot to handle system stability reduces noise values by 38.37%, and the system reaches a steady state value of 3.8 s with a steady error of 0.2%. In addition, by using the proposed method, filtering disturbances and measurement noise in self-balancing robot can help improve the accuracy of the self balancing robot’s output. System response becomes faster towards stability compared to other methods which are also applied to two-wheeled mobile robots.
Co-Authors Abdul Syukor Mohamad Jaya Abdurrahman, Raka Admiral Abrihan Bachtiar Samudra Achmadiah, Mas Nurul Adhisuwignjo, Supriatna Adhitama, Dodik Widya Adhitya Bhawiyuga, Adhitya Adi Prayoga, Dimas Agus Pracoyo Ahmad Fahmi Ahmad Fahmi Ahmad Farih Qolyubie Rosief Al Azhar, Gillang Al Fattika, Muhammad Fattah Ala'uddin, Muhammad Afif Albastomi, Abu Yazid Alfiandi Aulia Rahmadani Alviansya, Toby Anang Lubis, Mohammad Agustinus Saputra Anggit Murdani Anindya Dwi Risdhayanti Arief Prasetyo Arief Rahman Hidayat Arta Ainur Rofiq Arwin Datumaya Wahyudi Sumari Athifah, Rula Aulia Nurwicaksana, Wahyu Awan Setiawan Azam Muzakhin Imammuddin Azhar, Gillang Al Azmiansyah Azmiansyah Bambang Priyadi Beauty Anggraheny Ikawanty Brahmantya Bagus Irsa Adinugraha Bristha Breneztavani Budhy Setiawan Budhy Setiawan Cahya Rahmad Chandra Andreas Setyo Wibisono Chandrasena Setiadi Chrissandy, Farif Christine, Anastasia Merry Dahnial Syauqy Denda Dewatama Dwikinta, Made Anindya Edi Sulistio Budi Ekananda Sulistyo Putra Ekojono, Ekojono Erfan Rohadi Erni Yudaningtyas Fadhil Abdullah Fahmi Fahanani, Agwin Faizal, Elka Fanisa Izzati Fasha Rafi Islamey Fatan Wirawan Ferdian Ronilaya Ferdy Hanan Pradana Firmanda Gies Algiffari Fitri Fitri Fitri Fitri Fitria, Ida Lailatul Fuad Dzaky Rizaldy Gilang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al-Azhar Gisela Ririh Handika Dwi Cahyono Hari Kurnia Safitri Hein Htet Herwandi Herwandi Hudriyah Mundzir, Hudriyah I Made Wirawan Ida Lailatul Fitria Ifrin Sandra Asti Ilham Agung Wicaksono Ilyasaa, Abizar Ivan Fadhila Izzati, Fanisa Jazilah, Afwatul Josafat Pratama Susilo Kamajaya, Leonardo Kiki Satria Putra Komarudin Achmad Leonardo Kamajaya Lucky Nindya Palupi M. Fahmi Khusnu Awaludin Mahfud Jiono Marizan bin Sulaiman Marizan Sulaiman Maulana, Wildan Arif Mila Fauziyah Mila Fauziyah Muhammad Afif Ala'uddin Muhammad Arif Nur Huda Muhammad Fattah Al Fattika Muhammad Khairuddin Mukhamad Luqman Muttaqin Faizin Nandaru Ramadhan Nanik Hendrawati Nanik hendrawati, Nanik Naufal Nurdinasetyo Nobuo Funabiki Nourma Ahada Arivantoro Novianto, Ade Rizal Nurhalim, Kubad Nurul Achmadiah, Mas Palupi, Lucky Nindya Patma, Tundung Subali PERMATASARI, DINDA AYU Pramana Yoga Saputra Pramana Yoga Saputra Pramanta, Rian Egar Prasetyo, Budi Eko Prayitno Prayitno Prayitno Prayitno Prayogi, Naufal Rizki Radianto, Donny Rahman Hidayat, Arief Rahmat, Mohammad Faried Ramadhan Kurniawan Ratna Ika Putri Rendi Pambudi Wicaksono Retno Palupi, Resti Dyah Ayu Rifa'i, Muhamad Riskitasari, Septyana Riza Lukmana Putra Rizky Ramadhan Rizqy Abdurrahman Rofiq, Arta Ainur Ronilaya, Ferdian Rosa Andrie Asmara Rosyidin, Arif Anwar Royhan Darmawan, Muhammad Rudy Ariyanto salies Apriliyant Salsabila Karina Kholiqin Salsabilla, Febby Ayu Sapto Wibowo Sapto Wibowo Sapto Wibowo Satriansyah, Muhammad Sembiring, Rinawati Septian Dimas Rochmanda Septian Dimas Rochmanda Septyana Riskitasari SEPTYANA RISKITASARI Septyana Riskitasari Septyana Riskitasari Septyana Riskitasari Setiawan, Budhy Sidik Nurcahyo Sigi Syah Wibowo Sulistio, Andhika Sungkono Sungkono Sungkono Sungkono Sungkono Sungkono Syamsiana, Ika Noer Teddy Hero Prasetyo Triana Fatmawati Wahid Hasyim Wahono , Wahyu Tri Wahyu Aulia Nurwicaksana Wahyu Aulia Nurwicaksana WAHYU AULIA NURWICAKSANA Wahyu Aulia Nurwicaksana Wahyu Aulia Nurwicaksana Widhy Hayuhardhika Nugraha Putra Winarno, Totok Yan Watequlis Syaifudin Yohana, Puspa Ayu Yohana Yudi Utomo Yuri Ariyanto Zahruddin Arif S Zakiyah Amalia Zakiyah Amalia zulfikar abror