Robot Keseimbangan dengan Kendali PID dan Kalman Filter

Ma’arif, Alfian; Puriyanto, Riky Dwi; Hasan, Fadlur Rahman T.

doi:10.25299/itjrd.2020.vol4(2).3900

Cited by 7 publications

(6 citation statements)

References 21 publications

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“…[13]. Penelitian tentang aplikasi sensor IMU telah banyak dilakukan oleh penelitian sebelumnya untuk navigasi quadrotor [3], robot keseimbangan [12], monitoring perilaku roket [14], serta bidang kedokteran untuk mengukur tremor pada pasien multiple sclerosis menggunakan multi accelerometer [15].…”

Section: Pendahuluanunclassified

“…Proses Kalman filter mengalami pengulangan secara terus menerus yang dapat dilihat pada Gambar 3[7]. Model matriks A dan B sesuai dengan model dinamika sistem pada Persamaan(8).Setelah menentukan prediksi state awal, kemudian menentukan prediksi kovarian error yang ditunjukkan pada Persamaan(12). Nilai − adalah prediksi kovarian error pada waktu k, H merupakan model matriks transisi dan R adalah error dari pengukuran.…”

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Estimasi Sudut Rotasi Benda Kaku Berbasis IMU Menggunakan Kalman Filter

Lasmadi

Kurniawan

Pamungkas

2021

Jurnal Teknik Elektro AVITEC

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Rotation angle estimates are often required and applied to the dynamics of spacecraft, UAVs, robots, underwater vehicles, and other systems before control. IMU is an electronic module that is used as an angle estimation tool but has noise that can reduce the accuracy of the estimation. This study aims to develop an estimation model for the angle of rotation of a rigid body based on the IMU-gyroscope sensor on a smartphone using a Kalman filter. The estimation model is developed in a simple dynamic equation of motion in state-space. Kalman filters are designed based on system dynamics models to reduce noise in sensor data and improve measurement estimation results. Simulations are carried out with software to investigate the accuracy of the developed estimation algorithm. Experiments were carried out on several smartphone rotations during the roll, pitch, and yaw. Then, the experimental data obtained is analyzed for accuracy by comparing the built-in algorithms on smartphones. Based on the experimental results, the accuracy rate of estimation angle is 94% before going through the Kalman filter and an accuracy level of above 98% after going through the Kalman filter for every rotation on the x-axis, y-axis, and z-axis.

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Section: Pendahuluanunclassified

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Estimasi Sudut Rotasi Benda Kaku Berbasis IMU Menggunakan Kalman Filter

Lasmadi

Kurniawan

Pamungkas

2021

Jurnal Teknik Elektro AVITEC

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“…The system behavior is observed using a sensing device to obtain the error value, which is the difference between the achieved value and the setpoint value. Then to find out how well the behavior of the system has achieved the expected performance, namely by feedback the error value to the input side [11]. Fig.…”

Section: Closed-loop Control Systemmentioning

confidence: 99%

Wall Following Control System with PID Control and Ultrasonic Sensor for KRAI 2018 Robot

Iqbal

Aji

2021

IJRCS

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Indonesian Abu Robot Contest (KRAI) in 2018 with the theme "Throwing a Blessing Ball". The main purpose of this robot is to be able to navigate automatically in an area that is bordered by walls to complete the mission. The main problem with the robot is the navigation system. The application of PID control in the wall following system has been able to make robot movements smooth, responsive, and fast. In this study, PID control aims to smooth the movement of the robot while walking along the wall in the race arena. The PID parameter is obtained from the results of tuning with the trial and error method, the values of KP = 3, KI = 0, and KD = 5. At the PWM 150 set point the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 4.4. cm. At the PWM 200 set point the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.4 cm. At the PWM 250 set point the value of the ultrasonic sensor distance reading to the object in the form of a wall with an average error of 0.8 cm. This error does not have an effect on the performance of the wall following system, because the system only uses the distance value reading data with a decimal value in front of the comma. So it can be concluded that the wall following system which is designed using ultrasonic sensors with measurement error that occurs is zero.

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“…DC motors have many applications in the field of robotics [1][2] [3] and industrial applications [4][5] [6]. Some examples of implementation are tracking systems for the direction of the sun [7], balance robot [8] [9], line follower robot [10] [11], line maze robot [12] [13], Quadrotor [14] [15], temperature control [16], Omni Robot [17] etc. DC motors are very popular because they are easy to learn, easy to control, and have good performance.…”

Section: Introductionmentioning

confidence: 99%

Embedded Control System of DC Motor Using Microcontroller Arduino and PID Algorithm

Ma’arif

Setiawan

Rahayu

2021

ITJRD

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The development of technology has a positive effect on the trade sector, creating smartphones that can be utilized in all activities combined with the internet network. Activity that is currently growing is a mobile trader in the city of Pekanbaru. This development caused much competition, for example, in the Pekanbaru city area, especially in Sialangmunggu village. Traders around is difficult to find consumers because consumers do not have precise location and time information. Therefore, researchers aim to design and build applications by utilizing the functions of google maps and GPS (Global Positioning System) where the Algorithm to be applied is the A* algorithm whose function is to find the nearest location between buyers to mobile merchants, to accommodate data from mobile merchants where buyers can know the nearest position of the traveling merchant. Process analysis will be divided into running analysis that discusses the workings of the process of mobile traders and buyers in the field. Then the proposed system analysis of the analysis will be made by the author to maximize the process on the current analysis. By making analysis and design, the author will know the needs needed in the creation of the system. The result of using method A* is applied to displaying the merchant's route with the user, and the result can provide the fastest route to get to the trader. The use of method A* is also done to find the trader whose location is closest to the user's location, and the result can display the nearest trader.

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Robot Keseimbangan dengan Kendali PID dan Kalman Filter

Cited by 7 publications

References 21 publications

Estimasi Sudut Rotasi Benda Kaku Berbasis IMU Menggunakan Kalman Filter

Estimasi Sudut Rotasi Benda Kaku Berbasis IMU Menggunakan Kalman Filter

Wall Following Control System with PID Control and Ultrasonic Sensor for KRAI 2018 Robot

Embedded Control System of DC Motor Using Microcontroller Arduino and PID Algorithm

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