A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study the design and the effectiveness of the Adaptive Super-Twisting controller to stabilize the system by comparing it with other previous control methods. A stabilization control of the pendulum upright using the Adaptive Super-Twisting algorithm (ASTA), was investigated. The proposed controller was designed based on the decoupling algorithm method to solve the coupled control input in the system model. We then compared the proposed stabilizing controller with first-order sliding mode control (FOSMC) and Super-Twisting algorithm (STA) in Matlab/Simulink simulation and realistic computer simulation. We developed the computer simulation using anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In Matlab/Simulink simulation, we considered three different scenarios: a nominal system, a system with uncertainty, and a disturbed system. Meanwhile, in a computer simulation, we only presented the comparison of different controllers' performances for the realized system. Both results showed that the three controllers could stabilize the pendulum upright with 0.1 rad initial angular position around the vertical axis. Under the same conditions, the ASTA and STA controllers had similar performances; they both have less chattering and faster convergence than the FOSMC approach. However, the FOSMC approach had the least energy delivered and smallest errors than the other two approaches.
The selection of rice varieties is a problem because there are a number of criteria that are considered in decision making. The criteria used in this study for the selection of rice varieties are yield potential, average yield, age of harvest, resistance to brown plant hopper pest and resistance to bacterial leaf blight disease. The concept of decision support system is a model for selecting the type of variety desired based on determined criteria (attributes). In this study using the weighted product method because there are a number of criteria in decision making (Multi Attribute Decision Making). The weighted product method calculates the preference value of each alternative where the alternative chosen is the one that has the greatest relative preference value. Based on the test results using an application program created, the relative preference values of each superior rice variety are obtained. From the calculation of the largest preference value is INPARI 1 with a value of V equal to 0.0404.
Abstract. Chassis is one of the important components in the car because chassis function is to support the load and the attachment of various car components, in this study will discuss the analysis of the stresses that occur due to the load on the wasaka electric car chassis. The material used is 4x7 hollow steel with a thickness 3mm, the method used includes making chassis design, calculation using autodesk inventor software, the analysis results show that the maximum stress is 34.77 Nm for passenger and driver loads of 350 N , the maximum stress that occurs is 1.133 Nm for the engine load of 150 N, and the maximum stress that occurs 0.2217 Nm for the overall load on the wasaka electric car. Keywords : : Chassis, Stress.
Kegiatan Pengabdian Kepada Masyarakat ini dilaksanakan di SMPN 7 Banjarmasin. Berdasarkan survey lapangan, di SMPN 7 Banjarmasin untuk proses kegiatan belajar mengajar sepenuhnya menggunakan metode manual dan belum memiliki e-learning sekolah. Pemanfaatan metode manual sepenuhnya tersebut dapat ditingkatkan dengan penambahan e-learning sebagai sarana kegiatan belajar mengajar yang efektif. E-learning yang dibangun guna mengakomodasi guru dalam memberikan kebutuhan belajar pada siswa. Kebutuhan belajar tersebut seperti bahan belajar yang dapat diakses kapan saja dan dimana saja, efisien dalam penyimpanan bahan ajar dan tugas, dan praktis pada penggunaannya. Target dan luaran yang dicapai dari kegiatan pengabdian kepada masyarakat ini ada 3 yaitu Pembuatan website sekolah dapat mengakomodasi profil sekolah secara online, Pembuatan E-learning mempermudah kegiatan belajar mengajar antara guru dan siswa. Dan Pembuatan Jurnal pengabdian IMPACT sebagai laporan kegiatan pengabdian yang dapat diakses publik. Kegiatan pengabdian masyarakat ini dilakukan pada hari Sabtu tanggal 07 September 2019 di ruangan Laboratorium Komputer dengan dihadiri dosen sejumlah 4 orang, mahasiswa 3 orang, dan peserta 27 orang. Diharapkan kegiatan ini bermanfaat guna warga sekolah dalam mengakses bahan ajar dengan mudah, efisien serta dapat dilakukan kapanpun dan dimanapun mereka berada tanpa mengenal jarak dan waktu.
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