SISTEM KENDALI STEERING PADA SERVICE ROBOT MENGGUNAKAN METODE FUZZY LOGIC CONTROLLER TYPE-2

RIZKY, ICHLASUL AKMALI and Rendyansyah, Rendyansyah (2024) SISTEM KENDALI STEERING PADA SERVICE ROBOT MENGGUNAKAN METODE FUZZY LOGIC CONTROLLER TYPE-2. Undergraduate thesis, Sriwijaya University.

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Abstract

The advancement of technology in the field of robotics continues to progress and become increasingly sophisticated. One proof of this sophistication is robots that are designed to have human-like abilities. These human-like abilities are often utilized to assist and serve human needs, and such robots are referred to as service robots. In this research, the designed service robot uses a wheeled system for repositioning. To move effectively, the service robot requires a control system that can manage and maintain its steering while maneuvering from one place to another. However, a common challenge in controlling service robots is the lack of accuracy in the control system in managing the robot's steering. Therefore, this study employs the Type-2 Fuzzy Logic Controller (FLC Type-2) method to control the robot's steering. In this research, the Type-2 FLC has two inputs: the error value from the difference between the setpoint provided by the lidar sensor and the steering encoder reading, and the derror value (current error - previous error). The simulation results show that the Type-2 FLC with seven membership functions provides the best results compared to other membership functions and Type-1 FLC, with a steady-state error value of 0.0118. In real-time testing, the Type-2 FLC also delivers the best results, with a steady-state error of 3.6 at a 90° setpoint test. Additionally, in route testing with obstacles to reach the target point, it achieved the fastest completion time of 32.49 seconds. Therefore, this demonstrates that the Type-2 FLC method can deliver good performance.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Service Robot, Steering, FLC Type-2, FLC Type-1, Encoder Steering, Power Window
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology.
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Ichlasul Akmali Rizky
Date Deposited:	18 Jul 2024 04:37
Last Modified:	18 Jul 2024 04:37
URI:	http://repository.unsri.ac.id/id/eprint/151482

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