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All Journal Jurnal Teknologi Informasi dan Ilmu Komputer PROtek : Jurnal Ilmiah Teknik Elektro JTT (Jurnal Teknologi Terpadu) JTERA (Jurnal Teknologi Rekayasa) JMM (Jurnal Masyarakat Mandiri) LOYALITAS: Jurnal Pengabdian Kepada Masyarakat Civitas Ministerium: Jurnal Pengabdian Kepada Masyarakat Journal of Applied Community Engagement (JACE)
Suhaedi Suhaedi
Politeknik Negeri Balikpapan
Humanities Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering Social Sciences Other

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Journal : Jurnal Teknologi Informasi dan Ilmu Komputer

 1 
Pengendalian Kestabilan Terbang Robot Penjelajah Udara Dengan Metode Hybrid PID-FUZZY Nur Yanti; Fathur Zaini Rachman; Suhaedi Suhaedi
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 5 No 6: Desember 2018
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (181.771 KB) | DOI: 10.25126/jtiik.2018561134

Abstract

Abstrak Pengembangan robot dengan sistem kecerdasan buatan memiliki keunggulan, seperti pada robot penjelajah udara dimana pemanfaatannya dapat digunakan sebagai robot pemadam api pada kebakaran hutan, pengambilan gambar. Robot penjelajah udara beroperasi menggunakan empat rotor dan empat buah baling-baling. Karena kombinasi inilah sistem mampu mengendalikan gaya angkat pesawat,  melalui kondisi torsi yang seimbang. Robot mampu melakukan pitch, yaw, dan roll menggunakan kendali empat rotor. Ketika robot penjelajah udara melakukan gerakan manuver, gerakan melayang (hovering) memerlukan kestabilan terbang, sehingga robot penjelajah udara ini dirancang dengan menggunakan sistem kendali hibrid PID-Fuzzy agar dihasilkan kestabilan terbang sesuai posisi ketinggian tertentu dan proses pendaratan. Metode penelitian meliputi perancangan rangkaian dan alat, pembuatan program untuk remote dan motor brushless, implementasi program pada kontroler, serta pengujian alat. Dengan kendali hibrid PID-Fuzzy diharapkan mengatasi berbagai masalah kendali saat terbang dengan mengubah nilai gain Kp, Ki, dan Kd dan mampu mengatasi sistem kendali robot yang nonlinier, sehingga dihasilkan kestabilan terbang robot yang baik sesuai tingkat ketinggian terbang dan saat pendaratan.    Abstract  The development of robots with artificial intelligence systems has advantages, such as in air explorers robots where their utilization can be used as fire fighting robots in forest fires, shooting. The air explorer robot operates using four rotor and four propellers. Because of this combination the system is able to control the lifting force of the aircraft, through a balanced torque conditions. The robot is able to pitch, yaw, and roll using the four rotor controls. When the air-cruise robot performs a maneuvering motion, hovering requires flying stability, so the air explorer robot is designed using a PID-Fuzzy hybrid control system to generate flying stability in a certain altitude position and landing process. Research methods include circuit design and tools, programming for remote and brushless motors, program implementation on controllers, and tool testing. With PID-Fuzzy hybrid control is expected to overcome the problems of control when flying by changing the gain value Kp, Ki, and Kd and able to overcome the nonlinear robot control system, resulting in good robot flying stability according to the level of flying altitude and when landing.
Co-Authors Andi sri Irtawaty Erick Sorongan Fathur Zaini Rachman Fathur Zaini Rachman Hadiyanto Hadiyanto Hasto Finanto Ihsan Ihsan Kango, Riklan Kusno, Hendra Sanjaya Maria Ulfa Nur Yanti Nurwahidah Jamal Pongtuluran, Ezra Hartarto Qory Hidayati Wijayani, Dahyang Ika Leni