PEMODELAN DINAMIKA DAN PERANCANGAN KENDALI LOGIKA FUZZY UNTUK ROBOT SELF-BALANCING RODA DUA
DOI:
https://doi.org/10.23960/jitet.v13i2.6402Abstract Views: 161 File Views: 151
Abstract
Robot self-balancing roda dua memiliki dinamika yang kompleks, sehingga menimbulkan tantangan signifikan dalam perancangan sistem kendalinya. Artikel ini mengusulkan penggunaan kendali logika fuzzy untuk mengendalikan robot tersebut. Model robot diformulasikan berdasarkan dinamika gerakannya dan direpresentasikan dalam bentuk persamaan state-space. Struktur kendali logika fuzzy terdiri dua masukan, yaitu error dan perubahan error, serta satu luaran berupa sinyal kendali yang menyesuaikan nilai torsi robot. Kinerja kendali logika fuzzy dievaluasi dan dibandingkan dengan Linear Quadratic Regulator (LQR) melalui simulasi yang dilakukan di MATLAB. Hasil pengujian kinerja kendali menunjukkan steady-state error antara sudut kemiringan aktual dan sudut referensi adalah nol untuk kendali logika fuzzy, sedangkan LQR memiliki error sebesar 0,05%. Selain itu, kendali logika fuzzy memiliki settling time sebesar 2,3 detik, dibandingkan dengan 2,5 detik untuk LQR. Hal ini menunjukkan bahwa kendali logika fuzzy dapat menyeimbangkan robot lebih cepat dibandingkan dengan LQR. Di bawah kendali logika fuzzy, robot bergerak sejauh 0,3 meter secara horizontal dari posisi awal sebelum kembali ke titik awalnya. Sebaliknya, dengan LQR, robot bergerak sejauh 0,35 meter sebelum kembali ke posisi awalnya. Hasil ini menunjukkan bahwa kendali logika fuzzy lebih unggul dibandingkan LQR dalam hal presisi dan stabilitas dalam menjaga posisi horizontal robot.
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