ACADSTAFF UGM

CREATION
Title : Swarm Intelligence Autotune For Differential Drive Wheeled Mobile Robot
Author :

Muhammad Auzan, S.Si., M.Cs. (1) Roghib Muhammad Hujja, S.Si., M.Cs. (2) M. RIDHO FUADIN (3) Dr. Danang Lelono, S.Si., M.T. (4)
Date : 15 2022
Keyword : DDWMR,Autotune,Feedback,Control,Tracking DDWMR,Autotune,Feedback,Control,Tracking
Abstract : Differential Drive Wheeled Mobile Robot (DDWMR) is a nonholonomic robot with constrained movement. Such constraint makes robot position control more difficult. A closed-loop control system such as PID can control robot position. However, DDWMR is a Multiple-Input-Multiple-Output system. There will be many feedback gains to be tuned, and the wrong value will make the system unstable. Therefore this research proposes an offline autotune method to choose optimal feedback gain that minimizes a fitness function. The fitness function uses Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE). These works propose to autotune feedback gain for DDWMR Jetbot, which implements a PI control system with six feedback gains. The methods used to tune the feedback gain are Particle Swarm Optimization (PSO) and Bird Swarm Algorithm (BSA). There are four different scenarios to do the autotune. The autotune result performance shows that those two methods can find an optimal gain to make the robot follow four different continuous trajectories without much trajectory deformation. PSO and BSA can do an autotune PI gain with six variables to minimize the Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE).
Group of Knowledge : Sistem Informasi Geografi (SIG)
Original Language : English
Level : Internasional
Status :
Published
Document
No Title Document Type Action
1 [IJEEI] Submission Acknowledgement.pdf
Document Type : Bukti Submitted
Bukti Submitted View
2 SWARM INTELLIGENCE AUTOTUNE FOR DIFFERENTIAL DRIVE WHEELED MOBILE ROBOT-1.pdf
Document Type : [PAK] Cek Similarity
[PAK] Cek Similarity View
3 form-L1-permohonan_penghargaan-karya-ilmiah-sudah-terbit-2022.pdf
Document Type : Dokumen Pendukung Karya Ilmiah (Hibah, Publikasi, Penelitian, Pengabdian)
Dokumen Pendukung Karya Ilmiah (Hibah, Publikasi, Penelitian, Pengabdian) View
4 Full Dokumen.pdf
Document Type : [PAK] Full Dokumen
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5 Bukti Korespondensi.pdf
Document Type : [PAK] Bukti Korespondensi Penulis
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6 Surat Pernyataan Pengusul.pdf
Document Type : Dokumen Pendukung Karya Ilmiah (Hibah, Publikasi, Penelitian, Pengabdian)
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7 BUKTI KORESPONDENSI.pdf
Document Type : [PAK] Bukti Korespondensi Penulis
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