Pengontrolan Penjejak Dinding dengan Batasan Orientasi pada Kursi Roda Robotik

https://doi.org/10.5614/joki.2016.8.2.8

Penulis

  • Stephen Andronicus
  • Amrizal Nainggolan
  • Antony Anggriawan Siswoyo
  • Augie Widyotriatmo

Kata Kunci:

kursi roda robotik, kontrol penjejak dinding, sensor ultrasonik, fungsi lyapunov barrier

Abstrak

Pada makalah ilmiah ini disajikan desain sistem kontrol penjejak dinding pada kursi roda robotik dengan keterbatasan pada pembacaan sensor. Rangkaian sensor ultrasonik digunakan untuk menentukan jarak dan sudut orientasi dari kursi roda robotik terhadap dinding yang menjadi acuan. Algoritma kontrol diturunkan menggunakan fungsi Lyapunov Barrier untuk menjamin kestabilan asimtotik dari sistem dengan batasan sudut pembacaan sensor ultrasonik. Hasil simulasi dari sistem kontrol memperlihatkan kursi roda robotik dapat bergerak dengan jarak yang diinginkan dari dinding dengan mempertahankan sudut orientasi tidak melebihi batasan pembacaan sensor ultrasonik.

Referensi

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Diterbitkan

2016-10-19

Cara Mengutip

[1]
S. Andronicus, A. Nainggolan, A. Anggriawan Siswoyo, dan A. Widyotriatmo, “Pengontrolan Penjejak Dinding dengan Batasan Orientasi pada Kursi Roda Robotik”, JOKI, vol. 8, no. 2, hlm. 225, Okt 2016.