PENGONTROL KESEIMBANGAN ROBOT MENGGUNAKAN METODE FUZZY LOGIC PADA AUTONOMOUS UNDERWATER VEHICLE (AUV)

YUDI, ENDANG DARMAWAN and Zarkasi, Ahmad (2019) PENGONTROL KESEIMBANGAN ROBOT MENGGUNAKAN METODE FUZZY LOGIC PADA AUTONOMOUS UNDERWATER VEHICLE (AUV). Undergraduate thesis, Sriwijiaya University.

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Abstract

Underwater vehicles are the vehicle that can be moved and controlled in water by remotely. Autonomous Underw ater Vehicle (AUV) is one type of underwater robot that is being developed lately. AUV can move automatically without being controlled directly by the user as long as the conditions of the robot program are met. With the movement and disturbance that is difficult to predict can make the stability of the robot one is very vulnerable, so it takes a condition that can stabilize the movement both at any depth. In practice, the on / off control system is still not able to balance the AUV properly if the robot is disturbed by water movement. Therefore, the purpose of this paper, we want to design a system using fuzzy logic with Takagi Sugeno method to stabilize its movement in the roll position and adjust the height of the robot from the bottom of the water. This study uses the IMU MPU6050 sensor hardware and sonar sensor as input, Arduino as a microcontroller and 2 brushed DC motors as actuators.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Autonomous Underwater Vehicle (AUV), Fuzzy Logic, PWM
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL1-4050 Motor vehicles. Aeronautics. Astronautics > TL221.13.D43 Electric vehicles--Power supply. Electric automobiles--Power supply. Fuel cells--Costs. Fuel cells--Government policy--United States. Electric vehicle industry. Fuel cell vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL1-484 Motor vehicles. Cycles > TL221.13.D43 Electric vehicles--Power supply. Electric automobiles--Power supply. Fuel cells--Costs. Fuel cells--Government policy--United States. Electric vehicle industry. Fuel cell vehicles.
Divisions:	09-Faculty of Computer Science > 56201-Computer Systems (S1)
Depositing User:	Users 3809 not found.
Date Deposited:	26 Dec 2019 06:16
Last Modified:	26 Dec 2019 06:16
URI:	http://repository.unsri.ac.id/id/eprint/22243

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