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Journal : specta journal of technology

Optimization of Linear Quadratic Tracking (LQT) Weight Matrices Using Simulated Annealing Applied on Planar Arm Model Dinita Rahmalia; Teguh Herlambang; Sigit Pancahayani; Khozin Mu’tamar
SPECTA Journal of Technology Vol. 4 No. 3 (2020): SPECTA Journal of Technology
Publisher : LPPM ITK

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1123.239 KB) | DOI: 10.35718/specta.v4i3.193

Abstract

Optimal controls have been applied in this time. One of simple optimal control which will be analyzed in this research is planar arm model dynamic. The planar arm model dynamic consists of joint angles consisting of shoulder joint and elbow joint, angle velocities, and joint torquest due to passive muscle forces. There are control inputs from six muscles in the system. In this research, from planar arm model, it will be designed optimal control using Linear Quadratic Tracking (LQT). The objective function of planar arm model is we will minimimize two angles consisting of shoulder joint and elbow joint. In LQT, the value of performance index depends on the weight matrices so that we should optimize the weight matrices. In this research, the optimization of weight matrices in planar arm model will be applied by Simulated Annealing. The Simulated Annealing method is based on the simulation of thermal annealing of critically heated solids. Based on simulation results, Simulated Annealing can optimize the weight matrices in LQT so that it results optimal performance index with angle as state solution can follow the reference and we also obtain optimal controls from six muscle forces applied.
Co-Authors 'Arobi, Akhmad 'Izzul Abdul Muhith Adrianto, Dian Afiananda Rizky Afib Rulyansah Ahmad Syafiq Kamil Ahmad Syafiq Mughni Airlangga Bhumintara Amitaba Ajizah, Silvia Akbar, Reza Maliki Amri Rasyid, Reizano Anas Tifa Rahma Siswanti Andy Suryowinoto Arasy Alimudin Arief, M. Romli Arief, Mochammad Romli Arof, Hamzah Asy'ari, Vaizal Asy’ari, Vaizal Authar, Nailul Awwalinnisa Fauji Azmi Khulama Devi Azmi, Mohd Sanusi Baital, Muhammad Sawal Budiarti, Rizqi Putri Nourma Candra Ningrat Catur Wulandari David Ardiansyah Dennis V. Madrigal Diah Ayuningtyas Wati Dian Adrianto Diecky Adzkiya Dieky Adzkiya Dike Bayu Magfira, Dike Bayu Dike Bayu Maghfira Dina Novita Dini Ermavitalini Dinita Rahmalia, Dinita Dwiky Ade Putra Zakaria Elisa Qotrunnada Endang Sulistiyani Endang Sulistiyani Erna Apriliani Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fatmawati, Atika Favian Aditya Pradana Fidita, Denis Firdaus, Aji Akbar Hakiki, Moh Saiful Hamdani, M. Yusuf Hasan, Aldi Age Hasanah, alsabila Maulidah Hasanah, Indah Karimatul Hendro Nurhadi Hety, Dyah Siwi Ima Kurniastuti Ismanto Hadi Santoso Ismanto Hadi Susanto Isye Fadiata Isqi Jauharotur Rihlah Karya, Denis Fidita Katherin Indriawati Khozin Mu'tamar Kresna Oktafianto Kresna Oktafianto Leni Yuliana Leni Yuliana M. Wava Ferdianyah Putra M. Yushak Anshori Macap, Siti Rahayu Maghfira, Dike Bayu Maisyatul Fikriyyah Maulana Bayu Mayga Kiki Merta, I Wayan Surya Miftahul Huda Moch. Sahri Moh. Qo'is Fathur Rohman Mohamad Rijal Iskandar Zhulqurnain Mohamad Yusak Anshori Mohammad Qo'is Fathur Rohman Mohammad Syaiful Pradana, Mohammad Syaiful Mokhamad Ramadani Ilham Akbar Muhaimin Muhaimin Muhammad Halili Muhammad Nur Candra Mutia Annisaa’ Firdaus Nadita Mutiara Putri Nafa, Mulya Nicko Satria Utama Niken Fatikhasari Nyoman Juniarta, Nyoman Oktavianto, Lucky Othman, Zuraini Binti Puspandam Katias Putri Yuliana Virniasai Rachma Rizqina Rahayu, Ragil Puji Reizano Amri Rasyid Riansyah, Denny Fitrah Af Rita Sari Riyan Sisiawan Putra Rizaldi Al Farisi Rizky Ramadhan, Rizky Roebbi, aadiyah Rohman, Mochamad Khakim Saputro, Hendik Eko Septiyan Dias Anggoro Shiela, Fadia Jasmine Has Sigit Pancahayani Sofia, Ainin Soraya, Sabrina Ifahdini Sri Hartatik Subchan Subchan Subchan Subchan Subchan Subchan Subchan, Subchan Sulistiyani, Endang Suprapto, Sena Sukmananda Supriyanto Supriyanto Susanto, Fajar Annas Teay Shawyun Thomy Eko Saputro Tomasouw, Berny Pebo Tri Deviasari Wulan Tri Deviasari Wulan Wulan Triono Bagus Saputro, Triono Bagus Vicky Andria Kusuma Wahyu Wiji Lestari Widjanarko, Angga Adhitya Wulan, Tri Deviasari Wulansari, Tri Yudianto, Firman Yuliana, Leni Yuliyanto Agung Prabowo Zakaria, Moch Zhulqurnain, Mohamad Rijal Iskandar Zuraini Othman