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Andi Dharmawan
Jurusan Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
Electrical & Electronics Engineering

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Implementasi Kendali Logika Fuzzypada Robot Line Follower Gilang Nugraha Putu Pratama; Andi Dharmawan; Catur Atmaji
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 4, No 1 (2014): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (755.367 KB) | DOI: 10.22146/ijeis.4221

Abstract

Robot line follower merupakan robot otonom yang dapat mengikuti jalur. Jalurnya bisa berupa garis berwarna hitam diatas permukaan putih atau sebaliknya. Pada penelitian ini, robot line follower menggunakan sistem kendali logika fuzzy dengan metode Mamdani. Selama ini robot line follower kebanyakan dirancang untuk jalur dengan lebar yang tetap, namun dengan sistem kendali logika fuzzy ini dapat mengenali jalur dengan variasi lebar antara satu hingga delapan titik sensor. Robot line follower ini mengimplementasikan 18 aturan fuzzy untuk memetakan antara antecedent posisi dan lebar jalur, dengan consequent kecepatan laju robot. Aturan fuzzy terdiri dari masing-masing 9 aturan untuk kondisi jalur tunggal dan jalur percabangan dua jalur. Robot line follower ini mampu menganalisis 57 case jalur dengan kendali fuzzy, mulai dari lebar jalur 2 hingga 12 cm. Dimana 36 case analisis jalur tunggal dan 21 casejalur percabangan dua jalur. Robot line follower ini juga mampu menyesuaikan kecepatan laju sesuai lebar jalurnya. Kata kunci— kendali logika fuzzy, kendali Mamdani, robot line follower Line follower Robot is an autonomous robot that can follow a track. The track can be a black line on a white surface or vice versa. In this study, the line follower robot using fuzzy logic control system by the method of Mamdani. Mostly line follower robots are designed with a fixed width, but with fuzzy logic control system itcan recognize the wide variation between one to eight pointsof sensor. This line follower robot implements18 fuzzy rules to map between the antecedents position and width of the line, with a consequents speed rate of the robot. There are 9 rules each  for single line and two routes branching paths. This line follower robot is designedwith capabilityto analyze 57 cases, the width of the line from 2 to 12 cm. There are 36 casesof analysis on a single line and 21 cases on two lines branching paths. This line follower robot can adjust it’s speed depend on the wide of the track. Keywords— fuzzy logic controller, Mamdani-controller, line follower robot
Balancing Robot Menggunakan Metode Kendali Proporsional Integral Derivatif Rizka Bimarta; Agfianto Eko Putra; Andi Dharmawan
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 5, No 1 (2015): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (441.277 KB) | DOI: 10.22146/ijeis.7157

Abstract

            Center of gravity’s inverted pendulum is located above its pivot point therefore inverted pendulum is unstable. Specific control is needed so that inverted pendulum stable which is by move the cart where the pendulum is mounted. Inverted pendulum application can be found in balancing robot. The purpose of this research is to design a system to control a two wheeled robot using the control system to balance it.The inputs are accelerometer to measure angular acceleration (m/s2) and gyroskop to measure angular velocity (rad/s). The output’s of accelerometer and gyroscope are fused by complementary filter algorithm method to get the actual angle. The actual angle is then compared to set point which is 0o. The differences between set point and actual angle are processed using Proportional Integral Derivative control method. The process of PID control is programmed using Arduino IDE which its result is fed to DC motors. The direction of DC motors are determined by two conditions, if actual angle less than zero then DC motors will spin backwards. Whereas if actual angle more than zero then DC motors will spin forward.             The PID control’s constans value based on Ziegler-Nichols Oscillation tuning method are Kp=1.5, Ki=0.75, Kd=1.875 and complementary filter’s coefficient is a=0.96.
Co-Authors Agfianto Eko Putra Catur Atmaji Gilang Nugraha Putu Pratama Rizka Bimarta