PENERAPAN METODE FUZZY TUNING DYNAMIC PSO SEBAGAI PENGONTROL MOBILE ROBOT BERPENGGERAK DIFFERENTIAL

KURNIAWAN, TRI ATMOKO MALIK KURNAWAN and Nurmaini, Siti (2020) PENERAPAN METODE FUZZY TUNING DYNAMIC PSO SEBAGAI PENGONTROL MOBILE ROBOT BERPENGGERAK DIFFERENTIAL. Undergraduate thesis, Sriwijaya University.

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Abstract

The movement of DDMR or a differential driven mobile robot that is controlled using a control method so that it can move from its initial position to the destination position, has an optimization level that can be measured based on the resulting average position error value. The smaller the average value of the position error, the more optimal the control method used. This research has tested the Fuzzy Logic Controller (FLC) method in controlling the motion of the DDMR (controlling the speed of the right wheel and the left wheel), which results in an average error value of -6.45702 x 〖10〗^(-2)m, the average error value of y is –2.3120344 x 〖10〗^(-2)m, and the average error value θ is –3.15936 x 〖10〗^(-2) rad. While testing the Fuzzy Tuning Dynamic PSO method, which is carried out by tuning MF from the Dynamic PSO algorithm into the FLC system, results in an average error value of -3.6067 x 〖10〗^(-2)m, the average error value y equal to –2.3120072 x 〖10〗^(-2)m, and the average error value θ is –0.6767 x 〖10〗^(-2) rad.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Sistem Kendali, Mobile Robot Berpenggerak Differential, Model Kinematik, Logika Fuzzy, Fungsi Keanggotaan, Dynamic Particle Swarm Optimization
Subjects: T Technology > T Technology (General) > T1-995 Technology (General)
T Technology > T Technology (General) > T58.4 Managerial control systems Information technology. Information systems (General)
T Technology > T Technology (General) > T59.5 Automation
Divisions: 09-Faculty of Computer Science > 56201-Computer Systems (S1)
Depositing User: Mr. Tri Atmoko Malik Kurniawan
Date Deposited: 26 Aug 2020 07:36
Last Modified: 26 Aug 2020 07:36
URI: http://repository.unsri.ac.id/id/eprint/33779

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