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All Journal PROtek : Jurnal Ilmiah Teknik Elektro Jurnal INFOTEL
Wira Fadlun
Universitas Teknologi Yogyakarta
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy

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Penerapan Metode Kendali Nonlinier Berbasis Sistem Servo pada Sistem Magnetic Levitation (Maglev) Wira Fadlun
PROtek : Jurnal Ilmiah Teknik Elektro Vol 4, No 2 (2017): PRotek : Jurnal Ilmiah Teknik Elektro
Publisher : Program Studi Teknik Elektro Universitas Khairun

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1048.106 KB) | DOI: 10.33387/protk.v4i2.380

Abstract

Dalam mendesain sistem kendali maglev umumnya terkendala oleh dinamika sistem yang kompleks dan nonlinier sehingga dibutuhkan pemilihan metode yang tepat. Oleh karena itu, pada penelitian ini diajukan sebuah pemodelan sistem kendali  maglev dengan menerapkan salah satu metode nonlinier yaitu feedback linearization yang dikembangkan dengan mengadaptasi sistem servo yang dinamakan kendali servo-feedback linearization. Hasil pemodelan sistem diuji dengan simulasi menggunakan matlab simulink. Performa sistem kendali hasil pemodelan yang diajukan pada penelitian ini dibandingkan dengan performa kendali feedback linearization sederhana. Hasil simulasi sistem kendali dengan skenario tanpa pemberian gangguan (disturbance) menunjukkan kendali feedback linearization dan kendali servo-feedback linearization menunjukkan performa yang bagus. Sinyal output kedua sistem kendali dapat mengikuti sinyal input referensi (set point). Hasil simulasi sistem kendali dengan skenario dengan penambahan gangguan (disturbance) dalam bentuk sinyal step menunjukkan kendali feedback linearization memiliki performa yang kurang baik, kendali tersebut tidak dapat meredam gangguan, sebaliknya kendali servo-feedback linearization dapat meredam gangguan yang diberikan.
ROS-based 2-D Mapping Using Non-holonomic Differential Mobile Robot M.S. Hendriyawan Achmad; Satyo Nuryadi; Wira Fadlun; Mohd Razali Daud
JURNAL INFOTEL Vol 10 No 2 (2018): May 2018
Publisher : LPPM INSTITUT TEKNOLOGI TELKOM PURWOKERTO

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20895/infotel.v10i2.369

Abstract

This research proposes a 2-D mapping method by a mobile robot using LIDAR sensor. The mobile robot used is a non-holonomic type with a differential driver designed to operate in an indoor area. The robot applies an occupancy grid map method that uses a probability rule to handle the uncertainties of the sensor. The quality of 2-D occupied map relies on the accuracy of distance measurements by the LIDAR sensor and the accuracy of position estimation. Position estimation is obtained by using the 2-D LIDAR odometry which is based on the laser scan matching technique. This research uses simulation model which has characteristics like real nature. All the robotic software operations are managed by the Robot Operating System (ROS) as one of the most popular software frameworks currently used by robot researchers. The experimental results show that the robot can arrange a 2-D map well which is indicated by the similarity between the reference ground truth and the resulting 2-D map.
Co-Authors M.S. Hendriyawan Achmad Mohd Razali Daud Satyo Nuryadi