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All Journal Perfecting a Video Game with Game Metrics Proceeding of the Electrical Engineering Computer Science and Informatics
Kemala Dewi
Universitas Sriwijaya
Computer Science & IT Electrical & Electronics Engineering

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Improving Posture Accuracy of Non-Holonomic Mobile Robot System with Variable Universe of Discourse Siti Nurmaini; Bambang Tutuko; Kemala Dewi; Velia Yuliza; Tresna Dewi
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 3: September 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i3.6078

Abstract

This paper presents a method to decrease imprecision and inaccuracy that have the tendency to influence the posture of non-holonomic mobile by using the adaptive tuning of universe of discourse. As such, the primary objective of the study is to force the posture error of x(t), y(t) and θ(t) towards zero. Hence, for each step of tuning the fuzzy domain, about 20% of imprecision and inaccuracy had been added automatically into the variable universe fuzzy, while the control input was bound via scaling gain. Furthermore, the experimental results showed that the tuning of universe fuzzy parameters could increase the performance of the system from the aspects of response time and error for steady state through better control of inaccuracy. Besides, the domains of universe fuzzy input [-4,4] and output [0,6] exhibited good performance in inching towards zero values as the steady state error was about 1% for x(t) position, 0.02% for y(t) position, and 0.16% for θ(t) orientation, whereas the posture error in the given reference was about 0.0002%.
Differential-Drive Mobile Robot Control Design based-on Linear Feedback Control Law Siti Nurmaini; Kemala Dewi; Bambang Tutuko Tutuko
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 3: EECSI 2016
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (962.226 KB) | DOI: 10.11591/eecsi.v3.1115

Abstract

This paper deals with the problem of how to control differential driven mobile robot with simple control law. When mobile robot moves from one position to another to achieve a position destination,  it  always produce  some errors.  Therefore,  a  mobile robot  requires  a certain control law to drive the robot’s movement to the position destination with a smallest possible error. In this paper, in order to reduce position error, a linear feedback control is proposed with pole placement approach to regulate the polynoms desired. The presented work leads to an improved understanding of differential-drive mobile robot (DDMR)-based kinematics equation, which will assist to design of suitable controllers for DDMR movement . The result show by using the linier feedback control method with pole placement approach the position error is reduced and fast convergence is achieved.
Co-Authors Bambang Tutuko Siti Nurmaini Tresna Dewi Velia Yuliza