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

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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.

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Availability

Detail Information

Series Title

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Call Number

T1514822024

Publisher

Indralaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya., 2024

Collation

xiv, 55 hlm.; ilus.; 29 cm

Language

Indonesia

ISBN/ISSN

-

Classification

629.892 07

Content Type

Text

Media Type

unmediated

Carrier Type

-

Edition

-

Subject(s)

Prodi Teknik Elektro
Robot Pelayan (Service Robot)

Specific Detail Info

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Statement of Responsibility

KA

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